WO2020246613A1 - Robot control device - Google Patents

Robot control device Download PDF

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Publication number
WO2020246613A1
WO2020246613A1 PCT/JP2020/022496 JP2020022496W WO2020246613A1 WO 2020246613 A1 WO2020246613 A1 WO 2020246613A1 JP 2020022496 W JP2020022496 W JP 2020022496W WO 2020246613 A1 WO2020246613 A1 WO 2020246613A1
Authority
WO
WIPO (PCT)
Prior art keywords
chamber
opening
heat
door
control device
Prior art date
Application number
PCT/JP2020/022496
Other languages
French (fr)
Japanese (ja)
Inventor
律昭 藤澤
義章 塔ノ上
Original Assignee
川崎重工業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 川崎重工業株式会社 filed Critical 川崎重工業株式会社
Priority to US17/617,167 priority Critical patent/US11943894B2/en
Priority to CN202080034267.6A priority patent/CN113796171B/en
Priority to JP2021524945A priority patent/JP7340015B2/en
Publication of WO2020246613A1 publication Critical patent/WO2020246613A1/en

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Classifications

    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K5/00—Casings, cabinets or drawers for electric apparatus
    • H05K5/02—Details
    • H05K5/0217—Mechanical details of casings
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K7/00—Constructional details common to different types of electric apparatus
    • H05K7/20—Modifications to facilitate cooling, ventilating, or heating
    • H05K7/20009—Modifications to facilitate cooling, ventilating, or heating using a gaseous coolant in electronic enclosures
    • H05K7/20136—Forced ventilation, e.g. by fans
    • H05K7/20154—Heat dissipaters coupled to components
    • H05K7/20163—Heat dissipaters coupled to components the components being isolated from air flow, e.g. hollow heat sinks, wind tunnels or funnels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/06—Control stands, e.g. consoles, switchboards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0054—Cooling means
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K5/00—Casings, cabinets or drawers for electric apparatus
    • H05K5/02—Details
    • H05K5/0213—Venting apertures; Constructional details thereof
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K5/00—Casings, cabinets or drawers for electric apparatus
    • H05K5/02—Details
    • H05K5/0247—Electrical details of casings, e.g. terminals, passages for cables or wiring
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K7/00—Constructional details common to different types of electric apparatus
    • H05K7/20—Modifications to facilitate cooling, ventilating, or heating
    • H05K7/20009—Modifications to facilitate cooling, ventilating, or heating using a gaseous coolant in electronic enclosures
    • H05K7/20136—Forced ventilation, e.g. by fans
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K7/00—Constructional details common to different types of electric apparatus
    • H05K7/20—Modifications to facilitate cooling, ventilating, or heating
    • H05K7/20009—Modifications to facilitate cooling, ventilating, or heating using a gaseous coolant in electronic enclosures
    • H05K7/20136—Forced ventilation, e.g. by fans
    • H05K7/20145—Means for directing air flow, e.g. ducts, deflectors, plenum or guides
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K7/00—Constructional details common to different types of electric apparatus
    • H05K7/20—Modifications to facilitate cooling, ventilating, or heating
    • H05K7/2039—Modifications to facilitate cooling, ventilating, or heating characterised by the heat transfer by conduction from the heat generating element to a dissipating body

Definitions

  • This disclosure relates to a control device for a robot.
  • Patent Document 1 discloses a controller for an industrial robot device.
  • the controller comprises a cabinet with drawers.
  • a drive including a power supply unit is arranged in the drawer.
  • the controller includes a ventilation duct that penetrates through the drawer and a fan that forces an air flow through the ventilation duct.
  • the drawer is inserted into the space of the cabinet, so that the space becomes substantially airtight.
  • the ventilation duct is configured to pass through such a drawer.
  • the controller of Patent Document 1 has a structure for electrically connecting a drive and a cabinet device when a drawer is inserted. Therefore, the controller of Patent Document 1 has a problem that the number of parts is large and the structure is complicated.
  • an object of the present disclosure is to provide a control device for a robot that enables simplification of the structure.
  • the robot control device includes a main body having a first opening and a second opening arranged on a wall facing the first opening, and the first opening.
  • the main body includes a housing having a door provided in the main body so as to be able to open and close, a first circuit including a heat generating element that generates heat when energized, and at least one blower, and the main body houses the first circuit. It has a first chamber opened by the first opening, a second chamber adjacent to the first chamber via the first partition wall, and a second chamber opened by the first opening and the second opening.
  • the door has a door opening that penetrates the door and is arranged so as to communicate with the second chamber, and when the first opening is closed, the door closes the first chamber and the door is closed.
  • the second chamber and the outside are communicated with each other through an opening, and the at least one blower is a position among the door opening, a position near the door opening, the second opening, and a position near the second opening. It is arranged in at least one and is configured to introduce and derive air into and out of the second chamber.
  • the structure of the robot control device can be simplified.
  • FIG. 1 is a perspective view showing an example of a configuration in which the robot control device according to the embodiment is viewed from the front.
  • FIG. 2 is a perspective view showing an example of a configuration in which the robot control device according to the embodiment is viewed from the rear.
  • FIG. 3 is a perspective view showing an example of a configuration in which the robot control device according to the embodiment in the state where the door is open is viewed from the front.
  • FIG. 4 is a diagram showing a state in which the blower is removed in the robot control device of FIG.
  • FIG. 5 is a plan view showing an example of the inside of the robot control device of FIG. 3 viewed from above to below.
  • FIG. 6 is a cross-sectional view taken along the line VI-VI of the robot control device of FIG.
  • FIG. 7 is a diagram showing an example of the configuration of the robot control device according to the modified example in the same manner as in FIG.
  • FIG. 8 is a diagram showing an example of the configuration of the robot control device according to the modified example
  • the robot control device 1 is a control device that controls the operation of the robot.
  • the robot to be controlled may be any robot.
  • the robot to be controlled may be various robots such as industrial robots, service robots, construction machines, tunnel excavators, cranes, cargo handling vehicles, and humanoids.
  • Service robots are robots used in various service industries such as nursing care, medical care, cleaning, security, guidance, rescue, cooking, and product provision.
  • the robot to be controlled will be described as an industrial robot such as a vertical articulated robot, a horizontal articulated robot, a polar coordinate robot, a cylindrical coordinate robot, and a right angle coordinate robot.
  • Such an industrial robot includes a servomotor as a drive motor for driving joints and the like.
  • the servo amplifier used to control the servo motor includes a power module and generates heat when energized.
  • FIG. 1 is a perspective view showing an example of a configuration in which the robot control device 1 according to the embodiment is viewed from the front.
  • FIG. 2 is a perspective view showing an example of a configuration in which the robot control device 1 according to the embodiment is viewed from the rear.
  • FIG. 3 is a perspective view showing an example of a configuration in which the robot control device 1 according to the embodiment in the state where the door 30 is opened is viewed from the front.
  • FIG. 4 is a diagram showing a state in which the blower device 40 is removed in the robot control device 1 of FIG.
  • the "robot control device” may be simply referred to as a "control device".
  • the control device 1 includes a housing 10.
  • the shape of the housing 10 is a rectangular parallelepiped shape, but the shape is not limited to this and may be any shape.
  • the housing 10 has a rectangular parallelepiped main body 20 and a door 30.
  • the main body 20 has a rectangular first opening 20a and second openings 24a to 24d arranged on a side wall 24 which is an example of a wall facing the first opening 20a.
  • the door 30 has a rectangular lid-like shape, and is provided in the main body 20 so that the first opening 20a can be opened and closed.
  • the door 30 is attached to the side wall 23 of the main body 20 via a hinge 31 to form a single door.
  • the shapes of the main body 20 and the door 30 are not limited to the rectangular parallelepiped shape and the rectangular shape.
  • the main body 20 may have a first opening and a second opening arranged on a wall facing the first opening, and the door 30 may open and close the first opening.
  • the main body 20 includes a bottom wall 21, a top wall 25, and side walls 22 to 24, and the shape of each wall is rectangular.
  • the side walls 22 to 24 rise from the three peripheral edges of the bottom wall 21, and the bottom edges of the side walls 22 to 24 are joined to the peripheral edges of the bottom wall 21.
  • the side walls 22 to 24 are joined to each other at adjacent side edges.
  • the side walls 22 and 23 face each other and are substantially parallel in this embodiment.
  • the top wall 25 is arranged so as to face the bottom wall 21, and is substantially parallel to the bottom wall 21 in the present embodiment.
  • the three peripheral edges of the top wall 25 are joined to the upper edges of the side walls 22-24.
  • One peripheral edge of the bottom wall 21, one peripheral edge of the top wall 25, and one side edge of each of the side walls 22 and 23 form a rectangular first opening 20a.
  • the first opening 20a and the side wall 24 face each other.
  • the direction from the bottom wall 21 to the top wall 25 is called the upward direction, and the opposite direction is called the downward direction.
  • the direction from the side wall 22 to the side wall 23 is called the right direction, and the opposite direction is called the left direction.
  • the direction from the first opening 20a toward the side wall 24 is called the rear direction, and the opposite direction is called the front direction.
  • the first opening 20a is open in the forward direction.
  • the second openings 24a to 24d open in the rear direction and are arranged side by side in the vertical direction.
  • the quantity of the second openings 24a to 24d is not limited to four as shown in FIG.
  • the first door openings 30a and 30b and the second door opening 30c penetrating the door 30 are formed.
  • the quantity of the first door openings 30a and 30b is not limited to the two as shown in FIG.
  • the first door openings 30a and 30b are arranged side by side in the vertical direction.
  • the first door openings 30a and 30b and the second door opening 30c communicate the inside and the outside of the housing 10.
  • the positions of the first door openings 30a and 30b face the positions of the second openings 24a to 24d.
  • the breaker switch 101a projects to the outside of the door 30.
  • the breaker switch 101a is connected to a breaker 101 (not shown) and is a switch for switching between an operating state and a non-operating state of the breaker 101.
  • the breaker 101 is a circuit breaker that shuts off the flow of electric current in the control device 1 by operating.
  • control device 1 is provided with a blower device 40 at or near the first opening 20a.
  • the blower 40 is detachably provided on the main body 20.
  • the blower 40 includes a fan 41, and is not limited to the fan 41.
  • the blower 40 includes four fans 41 arranged in the vertical direction. The four fans 41 are arranged so as to be adjacent to the first door openings 30a and 30b in the front-rear direction when the door 30 closes the first opening 20a, that is, to face the first door openings 30a and 30b. Therefore, the four fans 41 are arranged at or near the first door openings 30a and 30b.
  • outside air is forcibly introduced into the housing 10 through the first door openings 30a and 30b or the second openings 24a to 24d, and the air in the housing 10 is introduced into the second opening. It is forcibly discharged to the outside through 24a to 24d or the first door openings 30a and 30b.
  • control device 1 includes a holding member 32, an operator connector 50, and an operation panel 60 on the door 30.
  • the actuator connector 50 is an example of a connecting device, and is configured to be physically and electrically connected to a communication connector of a robot actuator (not shown).
  • the control device 1 transmits and receives signals, currents, and the like to and from the actuator via the actuator connector 50.
  • the holding member 32 holds the robot operator.
  • the holding member 32 is configured so that the actuator can be hung.
  • the operating device may be an operating device for teaching (teaching) the robot, or may be another operating device.
  • the operation panel 60 is a panel for adjusting the control content of the control device 1.
  • a mode setting device 61 for setting the operation mode of the robot and an emergency stop device 62 for the robot are arranged on the operation panel 60.
  • the operation panel 60 may be provided with display devices such as indicator lights and displays for displaying various information, and adjusters for adjusting the output.
  • the emergency stop device 62 of the robot is a device that stops the robot by operating, and may be an input device such as a switch for inputting an emergency stop command.
  • the mode setting device 61 may be an input device such as a changeover switch for setting the operation mode.
  • the operation mode to be set may include at least one of a teaching mode, a manual operation mode, an automatic operation mode, a modified automatic operation mode, and the like.
  • the teaching mode is an operation mode for teaching an operation such as work to the robot. For example, an operation mode for programming the operation to the robot by an operator manually operating the robot using an actuator or the like.
  • the manual operation mode is an operation mode in which the robot is manually operated using the actuator, and is an operation mode in which the robot executes an operation according to an operation input to the operator by the operator, that is, an operation that traces the operation. Is.
  • the automatic operation mode is an operation mode in which the robot automatically operates, and is an operation mode in which the robot automatically executes an operation such as work according to a program set by teaching or the like.
  • the modified automatic operation mode is an operation mode in which the robot accepts manual operation while the robot is executing automatic operation.
  • automatic operation and manual operation may be combined, and the operation may be modified by manual operation during automatic operation.
  • At least one of the breaker switch 101a, the actuator connector 50, the mode setting device 61, and the robot emergency stop device 62 may be arranged on the door 30.
  • control device 1 is provided with a robot connector 81 (see FIG. 2) on the side wall 24 of the main body 20.
  • the robot connector 81 is configured to be physically and electrically connected to a communication connector of a robot (not shown).
  • the control device 1 transmits / receives signals, currents, and the like to and from the robot via the robot connector 81.
  • control device 1 is configured so that an electric wire extending from an external power source (also referred to as “primary power source”) (also referred to as “primary power source”) (not shown) is connected to the breaker 101 described later.
  • the control device 1 receives a current or the like from the external power source.
  • the breaker 101 operates to cut off the supply of current from the external power source to the control device 1.
  • FIG. 5 is a plan view showing an example of the inside of the robot control device 1 of FIG. 3 viewed from above to below.
  • the main body 20 has partition walls 26 and 27 that partition the internal space thereof.
  • the partition walls 26 and 27 extend in the front-rear direction and the up-down direction, and partition the internal space of the main body 20 in the left-right direction.
  • the partition walls 26 and 27 extend along the side walls 22 and 23 and are substantially parallel to the side walls 22 and 23 in this embodiment.
  • the first chamber 201 is partitioned between the side wall 23 and the first partition wall 26.
  • the second chamber 202 is partitioned between the partition walls 26 and 27.
  • the third chambers 203a and 203b are partitioned between the side wall 22 and the second partition wall 27.
  • the first chamber 201 is surrounded by the bottom wall 21, the side walls 23 and 24, the top wall 25, and the first partition wall 26, and is opened by the first opening 20a.
  • the second chamber 202 is surrounded by a bottom wall 21, a side wall 24, a top wall 25, and partition walls 26 and 27, and is opened by a first opening 20a and a second opening 24a to 24d.
  • the blower 40 is arranged in or near the first opening 20a and in the second chamber 202.
  • the third chambers 203a and 203b are surrounded by a bottom wall 21, side walls 22 and 24, a top wall 25, and a second partition wall 27.
  • the third chambers 203a and 203b are arranged in the front-rear direction and are separated by a third partition wall 28.
  • the third chamber 203a is opened by the first opening 20a, and the third chamber 203b is closed by the third partition wall 28.
  • the third partition wall 28 may be configured to be removable from the main body 20. Access to the third chamber 203b through the first opening 20a is possible by removing the third partition wall 28 when necessary, and access to the third chamber 203b is restricted by attaching the third partition wall 28 when not needed. It is possible.
  • the door 30 closes the first chamber 201, communicates the second chamber 202 with the outside through the first door openings 30a and 30b, and closes the third chamber 203a.
  • a sealing member such as packing may be arranged around the first chamber 201 at the first opening 20a, specifically, around the edges of the bottom wall 21, the side wall 23, the top wall 25, and the first partition wall 26. ..
  • the door 30 and the sealing member of the first chamber 201 can improve the airtightness or liquidtightness, and can suppress the invasion of foreign substances such as dust.
  • a sealing member such as packing may be arranged on the edges of the bottom wall 21, the side wall 22, the top wall 25 and the second partition wall 27, and the inner circumference of the second door opening 30c.
  • the third chamber 203a can be made airtight or liquidtight by the door 30 and the sealing member, and foreign matter such as dust can be suppressed from entering.
  • the control device 1 includes a first circuit 90 arranged in the first chamber 201, heat sinks 111 to 114 arranged in the second chamber 202, and a second circuit arranged in the third chambers 203a and 203b. It includes a circuit 100.
  • the first circuit 90 is a circuit for controlling the drive of the robot.
  • the first circuit 90 includes a servo amplifier 91, a power unit 92, and the like.
  • the servo amplifier 91 controls the servomotor by controlling the supply current of the robot to the servomotor (not shown).
  • the servo amplifier 91 may include a power module that controls the current supplied to the servomotor.
  • the power unit 92 supplies the electric power supplied from the external power source (not shown) to each part of the control device 1.
  • the power unit 92 may include a rectifier circuit that converts AC power into DC power, an AC / DC circuit, and the like.
  • the servo amplifier 91 generates heat when energized.
  • the power unit 92 includes a capacitor and the like, and generates heat when energized.
  • the servo amplifier 91 is an example of the first heat generating element, and the power unit 92 is an example of the second heat generating element.
  • the servomotor is equipped with an electric motor, an encoder that detects the rotation angle of the rotor of the electric motor, and a current sensor that detects the current value of the electric motor.
  • the servomotor operates the electric motor by the current output from the servo amplifier 91, and outputs the detected values of the encoder and the current sensor to the servo amplifier 91.
  • the servo amplifier 91 detects the rotation amount and rotation speed of the rotor of the servomotor based on the detection value of the encoder fed back from the servomotor, and the rotation amount and rotation speed of the rotor and the current value of the current sensor and the like.
  • the rotation start, rotation stop, rotation speed, and rotation torque of the servomotor are controlled by using the detection result of.
  • the servo amplifier 91 can stop the servomotor at an arbitrary rotation position, rotate it at an arbitrary rotation speed, and operate it at an arbitrary rotation torque. Therefore, each part of the robot driven by the servomotor can operate in various and precise manners.
  • the second circuit 100 is an electric circuit and includes a breaker 101, a transformer 102, and the like.
  • the breaker 101 is arranged in the third chamber 203a, and the transformer 102 is arranged in the third chamber 203b.
  • the breaker 101 and the transformer 102 are electrically connected, and the breaker 101 operates to cut off the supply current to the transformer 102.
  • the transformer 102 transforms the electric power supplied from the external power source via the breaker 101 and supplies it to the power unit 92 of the first circuit 90.
  • the transformer 102 generates heat when energized.
  • another electric circuit or the like may be arranged in the third chamber 203b.
  • the heat sinks 111 to 113 are arranged on the first partition wall 26, and the heat sink 114 is arranged on the second partition wall 27.
  • the heat sinks 111 to 114 are made of a material having high thermal conductivity.
  • the heat sinks 111 to 114 may be made of a metal having high thermal conductivity such as aluminum, iron, and copper.
  • FIG. 6 is a cross-sectional view of the robot control device 1 of FIG. 5 along the VI-VI line.
  • the heat sink 111 is arranged on the first partition wall 26 via the support plate 115.
  • the heat sink 111 is attached to the support plate 115.
  • the support plate 115 is attached to the first partition wall 26 and closes an opening (not shown) formed in the first partition wall 26.
  • the heat sink 111 is exposed in the first chamber 201 and the second chamber 202.
  • the heat sink 111 is configured to transfer the heat of the servo amplifier 91 of the first circuit 90.
  • the heat sink 111 is arranged adjacent to the servo amplifier 91 via a thin insulating member (not shown).
  • the heat sink 111 integrally includes a plurality of heat radiating plates protruding from the second chamber 202, and contacts the air in the second chamber 202 through the plurality of heat radiating plates to exchange heat. As a result, the heat sink 111 can dissipate the heat of the servo amplifier 91 to the second chamber 202.
  • the area of the heat sink 111 for heat exchange can be increased by the plurality of heat radiating plates.
  • the support plate 115 may be made of a material having high thermal conductivity, similarly to the heat sink 111. Further, the support plate 115 and the heat sink 111 may be made of the same material and integrated. As a result, the area for dissipating the heat of the servo amplifier 91 to the second chamber 202 can be increased. Furthermore, the number of parts can be reduced.
  • the heat sinks 112 and 113 are arranged on the first partition wall 26 via the support plate 116 above the heat sink 111. That is, the heat sinks 112 and 113 and the heat sink 111 intersect with respect to the airflow direction which is the direction from the first door openings 30a and 30b toward the second openings 24a to 24d and the direction of the airflow generated by the blower 40. It is arranged in the direction of the door.
  • the heat sinks 112 and 113 are attached to the support plate 116.
  • the support plate 116 is attached to the first partition wall 26 and closes an opening (not shown) formed in the first partition wall 26.
  • the heat sinks 112 and 113 are exposed in the first chamber 201 and the second chamber 202.
  • the heat sinks 112 and 113 are configured to transfer the heat of the power unit 92 of the first circuit 90.
  • the heat sinks 112 and 113 are arranged adjacent to the power unit 92 via a thin insulating member (not shown).
  • each of the heat sinks 112 and 113 integrally includes a plurality of heat radiating plates protruding into the second chamber 202, and contacts the air in the second chamber 202 through the plurality of heat radiating plates to exchange heat.
  • the heat sinks 112 and 113 can dissipate the heat of the power unit 92 to the second chamber 202.
  • the areas of the heat sinks 112 and 113 for heat exchange can be increased by a plurality of heat radiating plates, respectively.
  • the support plate 116 may be made of a material having high thermal conductivity. Further, the support plate 116 and the heat sinks 112 and 113 may be made of the same material and integrated. As a result, the area for dissipating the heat of the power unit 92 to the second chamber 202 can be increased. Furthermore, the number of parts can be reduced.
  • the heat sink 114 is arranged on the second partition wall 27.
  • the heat sink 114 is arranged on the side opposite to the heat sinks 111 to 113 with respect to the second chamber 202. Similar to the heat sinks 111 to 113, the heat sink 114 may be arranged on the second partition wall 27 via a support plate (not shown) that closes an opening (not shown) formed in the second partition wall 27.
  • the heat sink 114 is exposed in the second chamber 202 and the third chamber 203b. In the third chamber 203b, the heat sink 114 is configured to transfer the heat of the transformer 102.
  • the heat sink 114 is arranged adjacent to the transformer 102 via a thin insulating member (not shown).
  • the heat sink 114 integrally includes a plurality of heat radiating plates protruding from the second chamber 202, and contacts the air in the second chamber 202 through the plurality of heat radiating plates to exchange heat. As a result, the heat sink 114 can dissipate the heat of the transformer 102 to the second chamber 202.
  • the area of the heat sink 114 for heat exchange can be increased by the plurality of heat radiating plates.
  • the support plate (not shown) that supports the heat sink 114 may be made of a material having high thermal conductivity, or may be made of the same material as the heat sink 114 and integrated. As a result, the area for dissipating the heat of the transformer 102 to the second chamber 202 can be increased. Furthermore, the number of parts can be reduced.
  • control device 1 may include a resistor 131 arranged on the second partition wall 27.
  • the resistor 131 is exposed in the second chamber 202.
  • the resistor 131 is an electric resistor that generates heat when energized.
  • the resistor 131 is electrically connected to the first circuit 90 and is configured to consume the surplus power from the first circuit 90.
  • the resistor 131 consumes the supplied electric power by generating heat.
  • the resistor 131 dissipates heat generated by contacting with the air in the second chamber 202 and exchanging heat.
  • the servomotor of the robot may generate regenerative power, and this regenerative power may be supplied to the first circuit 90 to become surplus power.
  • the first circuit 90 supplies the resistor 131 with excess power to protect the circuit.
  • control device 1 The operation of the control device 1 according to the embodiment will be described. As shown in FIGS. 1 and 2, the door 30 of the housing 10 of the control device 1 is closed during normal times including use for controlling a robot (not shown). At this time, the first chamber 201 and the third chambers 203a and 203b of the housing 10 are closed. The second chamber 202 is opened to the outside of the housing 10 through the first door openings 30a and 30b, the first opening 20a, and the second openings 24a to 24d.
  • the control device 1 when the control device 1 is used, the control device 1 is energized, whereby the first circuit 90 and the second circuit 100 are energized.
  • the first circuit 90 operates the blower 40. Further, the first circuit 90 drives the servo amplifier 91 and the power unit 92 to operate a robot (not shown) electrically connected to the control device 1. Specifically, the first circuit 90 operates a robot arm joint, an end effector (not shown), and the like by driving a servomotor.
  • the fan 41 of the blower device 40 is rotationally driven in one direction to forcibly generate an air flow from the front to the rear of the housing 10. That is, the fan 41 generates an air flow that flows into the second chamber 202 through the first door openings 30a and 30b and the first opening 20a and flows out from the second chamber 202 through the second openings 24a to 24d. Therefore, the second chamber 202 constitutes a linear gas flow path from the first door openings 30a and 30b to the second openings 24a to 24d.
  • the fan 41 may be rotationally driven in a direction opposite to the above one direction. In this case, in the second chamber 202, an air flow is generated from the second openings 24a to 24d toward the first door openings 30a and 30b.
  • the outside air is forcibly introduced into the second chamber 202 by the fan 41 and then forcibly discharged.
  • the introduced outside air absorbs heat by contacting the heat sinks 111 to 114 and exchanging heat.
  • the heat of the servo amplifier 91 and the power unit 92 of the first circuit 90 is endothermic to the outside air via the heat sinks 111 to 113.
  • the heat of the transformer 102 of the second circuit 100 is endothermic to the outside air through the heat sink 114.
  • the outside air absorbs heat by contacting with the resistor 131 and exchanging heat.
  • the heat sink 111 that absorbs heat from the servo amplifier 91 and the heat sinks 112 and 113 that absorb heat from the power unit 92 are arranged separately in the vertical direction of the housing 10.
  • the heat sink 111 and the heat sinks 112 and 113 are not arranged in a positional relationship upstream or downstream of the flow of outside air generated by the blower 40, but are arranged in a direction intersecting the direction of the flow of outside air.
  • the outside air that the heat sink 111 exchanges heat with is not the outside air after heat exchange with the heat sink 112 or 113, but the fresh outside air introduced from the outside of the housing 10.
  • the outside air that the heat sinks 112 and 113 exchange heat with is not the outside air after the heat exchange with the heat sink 111, but the fresh outside air introduced from the outside of the housing 10.
  • heat exchange between the heat sinks 111 to 113 can be performed with high efficiency.
  • the heat sink 113 is located downstream of the flow of outside air in the second chamber 202 with respect to the heat sink 112, but may be arranged so as to be displaced in the vertical direction. As a result, fresher outside air is introduced into the heat sink 113.
  • the heat sink 114 is arranged on the side opposite to the heat sinks 111 to 113 with respect to the second chamber 202 in the left-right direction of the housing 10, that is, in the direction orthogonal to the flow of the outside air.
  • the outside air that the heat sink 114 exchanges heat with is the outside air that is less affected by the heat exchange of the heat sinks 111 to 113. As a result, heat exchange with high efficiency in the heat sink 114 is possible.
  • first chamber 201 and the third chambers 203a and 203b are shielded from the second chamber 202, and are not subject to the forced introduction of outside air by the blower 40. Therefore, the invasion of foreign matter into the first chamber 201 and the third chambers 203a and 203b is suppressed.
  • outside air lead-in / entry portion is limited to the front door 30 and the back side wall 24 of the housing 10.
  • a holding member 32, an operator connector 50, an operation panel 60 and a breaker switch 101a are arranged on the door 30, and a robot connector 81 is arranged on the side wall 24. Therefore, other devices such as another control device 1 can be arranged around the housing 10 adjacent to the bottom wall 21, the side walls 22 and 23, and the top wall 25. For example, a plurality of control devices 1 can be stacked and arranged in the vertical direction and the horizontal direction.
  • the door 30 of the housing 10 is opened during an abnormal time including maintenance of the control device 1.
  • the first room 201, the second room 202, and the third room 203a and 203b can be accessed through the first opening 20a.
  • the first circuit 90, the blower 40, and the breaker 101 can be inspected, repaired, and replaced.
  • the third partition wall 28 it is possible to inspect the inside of the third chamber 203b.
  • the robot control device 1 has a main body 20 having a first opening 20a and second openings 24a to 24d arranged on a side wall 24 facing the first opening 20a, and a first opening. It includes a housing 10 having a door 30 provided in the main body 20 so that the 20a can be opened and closed, a first circuit 90 including a servo amplifier 91 and the like as a heat generating element that generates heat when energized, and at least one blower 40. ..
  • the main body 20 accommodates the first circuit 90 and is adjacent to the first chamber 201 opened at the first opening 20a via the first chamber 201 and the first partition wall 26, and the first opening 20a and the second opening 24a.
  • the door 30 has first door openings 30a and 30b that penetrate the door 30 and are arranged to communicate with the second chamber 202, and the door 30 opens the first chamber 201 when the first opening 20a is closed. It is closed and communicates between the second chamber 202 and the outside through the first door openings 30a and 30b.
  • At least one blower 40 is at least one of the first door openings 30a and 30b, the positions near the first door openings 30a and 30b, the second openings 24a to 24d, and the second openings 24a to 24d. It is configured to introduce and derive air into the second chamber 202.
  • the blower 40 is arranged at or near the first door openings 30a and 30b.
  • the outside air when the door 30 closes the first opening 20a, the outside air can flow in and out into the second chamber 202.
  • heat can be exchanged between the outside air in the second chamber 202, the air in the first chamber 201, and the first circuit 90 via the first partition wall 26, and the heat of the servo amplifier 91 or the like is second. It is released into the chamber 202. Further, the blower 40 introduces or derives air, so that the amount of heat exchange of air in the second chamber 202 can be increased.
  • the blower 40 is arranged at the end of the second chamber 202, the space in the second chamber 202 can be effectively used. Further, when the blower device 40 is arranged at or near the first door openings 30a and 30b, the blower device 40 can be accessed from the door 30 side. For example, when the door 30 opens the first opening 20a, inspection, repair, replacement, and the like of the blower device 40 are easy.
  • the first chamber 201 is closed, so that foreign matter is suppressed from entering the first circuit 90.
  • the door 30 opens the first opening 20a the first room 201 and the second room 202 can be accessed from the outside.
  • the first circuit 90 can be inspected, repaired, replaced, and the like.
  • Such a control device 1 can realize the above-mentioned functions by a simple structure.
  • the first opening 20a and the second openings 24a to 24d may be arranged at positions facing each other.
  • the second chamber 202 having the first opening 20a or the second openings 24a to 24d as the introduction port and the outlet port can form a linear air flow path inside the second chamber 202. Therefore, it becomes possible to smooth the flow of air in the second chamber 202, and the heat exchange efficiency by air is improved.
  • the first opening 20a is located at the front of the housing 10
  • the second openings 24a to 24d are located at the rear of the housing 10. Therefore, it is possible to arrange other objects laterally and vertically of the housing 10.
  • the housings 10 can be stacked vertically and horizontally. Therefore, it is possible to save space in the arrangement place of the control device 1.
  • the control device 1 includes first heat sinks 111 to 113 arranged in the first partition wall 26, and the first heat sinks 111 to 113 come into contact with the air in the second chamber 202 and the first circuit.
  • the heat of the servo amplifier 91 of 90 and the power unit 92 may be arranged so as to be transferable. According to the above configuration, the heat of the servo amplifier 91 and the power unit 92 is transferred to the first heat sinks 111 to 113, and the transferred heat exchanges heat with the air in the second chamber 202 in contact with the first heat sinks 111 to 113. Is absorbed.
  • the first heat sinks 111 to 113 can effectively absorb the heat of the servo amplifier 91 and the power unit 92 and effectively dissipate heat to the air in the second chamber 202. Therefore, the heat exchange efficiency can be improved.
  • the first circuit 90 includes the servo amplifier 91 and the power unit 92, and at least two first heat sinks 111 to 113 may be arranged so that the heat of the servo amplifier 91 and the power unit 92 can be transferred. ..
  • the first heat sink 111 capable of transferring the heat of the servo amplifier 91 and the first heat sinks 112 and 113 capable of transferring the heat of the power unit 92 are the flow of air generated in the second chamber 202 by the blower 40. It may be arranged in a direction intersecting the direction. According to the above configuration, the air after heat exchange with the first heat sink 111 is suppressed from heat exchange with the first heat sinks 112 and 113.
  • the air after heat exchange with the first heat sinks 112 and 113 is suppressed from heat exchange with the first heat sink 111. Therefore, both the first heat sink 111 and the first heat sinks 112 and 113 can exchange heat with fresh air. Therefore, the heat exchange efficiency can be improved.
  • the control device 1 includes the second circuit 100 in the third chambers 203a and 203b of the main body 20, and the third chambers 203a and 203b are connected to the second chamber 202 via the second partition wall 27. It may be adjacent. According to the above configuration, heat exchange between the air in the second chamber 202, the air in the third chambers 203a and 203b, and the second circuit 100 is possible through the second partition wall 27, and the second circuit 100 can exchange heat. Heat is released to the second chamber 202. Therefore, it is possible to release heat in the first chamber 201 and the third chambers 203a and 203b by using one second chamber 202. Therefore, the structure of the control device 1 can be simplified.
  • the third chambers 203a and 203b may be arranged on the opposite side of the second chamber 202 from the first chamber 201. Since the first chamber 201, the second chamber 202, and the third chambers 203a and 203b are lined up in a row, the housing 10 can be made compact.
  • control device 1 includes a second heat sink 114 arranged on the second partition wall 27, and the second heat sink 114 is in contact with the air in the second chamber 202 and the heat of the second circuit 100 is generated. It may be arranged in a communicable manner. According to the above configuration, the second heat sink 114 can effectively absorb the heat of the second circuit 100 and effectively dissipate the heat to the air in the second chamber 202. Therefore, the heat exchange efficiency can be improved.
  • the third chamber 203a may be opened by the first opening 20a and may be closed by the door 30 when the door 30 closes the first opening 20a. According to the above configuration, when the door 30 closes the first opening 20a, the third chambers 203a and 203b are closed, so that foreign matter is suppressed from entering the second circuit 100. Further, when the door 30 opens the first opening 20a, the third chambers 203a and 203b can be accessed from the outside.
  • the control device 1 has a door 30, a breaker switch 101a, an operator connector 50 as a connection device with the robot operator, a robot operation mode mode setting device 61, and a robot emergency. At least one of the stop devices 62 may be provided.
  • the devices operated by the operator in the control device 1 can be arranged in the door 30 and further integrated. Therefore, the control device 1 may be arranged so as to secure a space in front of the door 30 and behind the side wall 24. It is possible to effectively use the space in the lateral direction and the vertical direction of the control device 1, and it is possible to save the space for arranging the control device 1.
  • the robot control device 1A according to the modified example of the embodiment will be described.
  • the robot control device 1A according to the modified example is different from the embodiment in that the electric cable extending from the first circuit 90 passes through the second chamber 202 of the housing 10.
  • the modified example will be described mainly on the points different from the embodiment, and the description of the same points as the embodiment will be omitted as appropriate.
  • FIG. 7 is a diagram showing an example of the configuration of the robot control device 1A according to the modified example in the same manner as in FIG.
  • FIG. 8 is a diagram showing an example of the configuration of the robot control device 1A according to the modified example in the same manner as in FIG.
  • a plurality of electric cables 120a extend from the servo amplifier 91.
  • the quantity of the electric cable 120a corresponds to the quantity of the servomotor of the robot arm and the end effector.
  • the plurality of electric cables 120a extend from the first chamber 201 into the second chamber 202 through the plurality of insulating holding members 121a penetrating the support plate 115.
  • the electric cable 120a in the second chamber 202 extends into the first chamber 201 through the opening 26a formed in the first partition wall 26 and is connected to the robot connector 81.
  • a sealing member such as a packing for enhancing the airtightness or liquidtightness of the opening 26a may be arranged on the inner circumference of the opening 26a.
  • a plurality of electric cables 120b extend from the power unit 92.
  • the plurality of electric cables 120b extend from the first chamber 201 into the second chamber 202 through the insulating holding member 121b that penetrates the support plate 116.
  • the electric cable 120b in the second chamber 202 extends into the first chamber 201 through a plurality of insulating holding members 121c penetrating the support plate 115, and is connected to the servo amplifier 91.
  • the electric cables 120a and 120b generate heat when the servo amplifier 91 and the power unit 92 are energized, but are cooled by contacting with the air in the second chamber 202 and exchanging heat. By suppressing the heat generation of the electric cables 120a and 120b, the heat generation of the servo amplifier 91 and the power unit 92 can be suppressed.
  • the electric cables 120a and 120b extending from the servo amplifier 91 and the power unit 92 of the first circuit 90 may be arranged through the second chamber 202.
  • the electric cables 120a and 120b generate heat when energized.
  • the electric cables 120a and 120b can receive heat transfer from the servo amplifier 91 and the power unit 92.
  • the electric cables 120a and 120b passing through the second chamber 202 can exchange heat with the air in the second chamber 202 and be cooled.
  • the blower 40 is arranged at or near the first door openings 30a and 30b, but is not limited thereto.
  • the blower 40 may be arranged at the door 30 or at any position in the second chamber 202.
  • the blower 40 is preferably configured to generate airflow in the direction from the first door openings 30a and 30b toward the second openings 24a to 24d or in the opposite direction.
  • the blower 40 may be arranged both in the first door openings 30a and 30b and in the vicinity of the first door openings 30a and 30b.
  • the blower 40 may be arranged in one or both of the second openings 24a to 24d and the vicinity of the second openings 24a to 24d. That is, at least one blower 40 is at least one of the first door openings 30a and 30b, the positions near the first door openings 30a and 30b, the second openings 24a to 24d, and the second openings 24a to 24d. It may be arranged in one. Two or more blowers 40 may be arranged.
  • the blower 40 When the blower 40 is arranged at or near the second openings 24a to 24d, the blower 40 is arranged at the end of the second chamber 202, so that the space in the second chamber 202 can be effectively used. is there.
  • the blower 40 can be accessed regardless of whether the door 30 is opened or closed. For example, the blower 40 can be inspected, repaired, replaced, etc. regardless of whether the door 30 is opened or closed.
  • the servo amplifier 91, the power unit 92, the transformer 102, and the like are arranged as heat generating elements in the first chamber 201 and the third chambers 203a and 203b of the housing 10.
  • the heating element may be an electric component such as a resistance element or an electronic component, or may be another heating element as long as it generates heat.
  • the first chamber 201 and the third chambers 203a and 203b are arranged on opposite sides of the second chamber 202, but the present invention is not limited to this.
  • the first chamber 201 and the third chambers 203a and 203b may be arranged adjacent to the second chamber 202.
  • the first chamber 201 may be adjacent to the first partition wall 26, and the third chambers 203a and 203b may be adjacent to the bottom wall 21 or the top wall 25.
  • 1,1A Robot control device 10 Housing 20 Main body 20a First opening 24a to 24d Second opening 26 First partition 27 Second partition 30 Door 30a, 30b First door opening 40 Blower 41 Fan 50 Operator connector (connection) apparatus) 61 Mode setting device 62 Emergency stop device 90 First circuit 91 Servo amplifier (first heat generating element) 92 Power unit (second heat generating element) 100 Second circuit 101a Breaker switch 102 Transformer (heating element) 111-113 heat sink (first heat sink) 114 heat sink (second heat sink) 120a, 120b Electric cable 201 First room 202 Second room 203a, 203b Third room

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  • Engineering & Computer Science (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Physics & Mathematics (AREA)
  • Thermal Sciences (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

A robot control device (1) comprises: a casing (10) including a body (20) which has a first opening (20a) and second openings (24a-24d), and a door (30) capable of opening/closing the first opening; a first circuit (90) including heat generating elements (91, 92); and at least one blowing device (40). The body includes: a first chamber (201) that accommodates the first circuit and that can be in an opened state by means of the first opening; and a second chamber (202) that is adjacent to the first chamber and that can be in an opened state by means of the first opening and the second openings. When the first opening is closed, the door closes the first chamber and establishes communication between the second chamber and the outside via door openings (30a, 30b) of the door. The blowing device(s) is/are disposed at at least one of the door openings, a position near the door openings, the second openings, and a position near the second openings, and is/are configured so as to guide air into and out of the second chamber.

Description

ロボット用制御装置Control device for robot
　本開示は、ロボット用制御装置に関する。 This disclosure relates to a control device for a robot.
　従来から、サーボモータを制御するサーボアンプ等の発熱体を収容する制御装置が知られている。例えば、特許文献１は、産業用ロボット装置用のコントローラを開示している。コントローラは、引き出しを備えるキャビネットを備える。当該引き出し内に、電源ユニットを備えるドライブが配置される。コントローラは、引き出しの中を貫通する換気用ダクトと、換気用ダクト内の空気の流れを強制的に生成するファンとを備える。 Conventionally, a control device for accommodating a heating element such as a servo amplifier that controls a servomotor has been known. For example, Patent Document 1 discloses a controller for an industrial robot device. The controller comprises a cabinet with drawers. A drive including a power supply unit is arranged in the drawer. The controller includes a ventilation duct that penetrates through the drawer and a fan that forces an air flow through the ventilation duct.
特表２００５－５２９４２６号公報Special Table 2005-528426
　特許文献１のコントローラでは、キャビネットの空間に引き出しが挿入されることで、当該空間が実質的に気密な状態となる。そして、換気用ダクトは、このような引き出し内を通るように構成されている。また、特許文献１のコントローラは、引き出しが挿入されたときにドライブとキャビネットの装置とを電気的に接続する構造を備える。よって、特許文献１のコントローラは部品点数が多く、その構造が複雑であるという問題がある。 In the controller of Patent Document 1, the drawer is inserted into the space of the cabinet, so that the space becomes substantially airtight. The ventilation duct is configured to pass through such a drawer. Further, the controller of Patent Document 1 has a structure for electrically connecting a drive and a cabinet device when a drawer is inserted. Therefore, the controller of Patent Document 1 has a problem that the number of parts is large and the structure is complicated.
　そこで、本開示は、構造の簡略化を可能にするロボット用制御装置を提供することを目的とする。 Therefore, an object of the present disclosure is to provide a control device for a robot that enables simplification of the structure.
　上記目的を達成するために、本開示の一態様に係るロボット用制御装置は、第一開口と前記第一開口と対向する壁に配置された第二開口とを有する本体と、前記第一開口を開閉可能に前記本体に設けられた扉とを有する筐体と、通電により発熱する発熱素子を含む第一回路と、少なくとも１つの送風装置とを備え、前記本体は、前記第一回路を収容し、前記第一開口で開放された第一室と、前記第一室と第一隔壁を介して隣接し、前記第一開口及び前記第二開口で開放された第二室とを有し、前記扉は、前記扉を貫通し且つ前記第二室と連通可能に配置された扉開口を有し、前記扉は、前記第一開口を閉じたとき、前記第一室を閉塞し、前記扉開口を介して前記第二室と外部とを連通し、前記少なくとも１つの送風装置は、前記扉開口、前記扉開口の近傍位置、前記第二開口、及び前記第二開口の近傍位置のうちの少なくとも１つに配置され、前記第二室内に空気を導入及び導出するように構成される。 In order to achieve the above object, the robot control device according to one aspect of the present disclosure includes a main body having a first opening and a second opening arranged on a wall facing the first opening, and the first opening. The main body includes a housing having a door provided in the main body so as to be able to open and close, a first circuit including a heat generating element that generates heat when energized, and at least one blower, and the main body houses the first circuit. It has a first chamber opened by the first opening, a second chamber adjacent to the first chamber via the first partition wall, and a second chamber opened by the first opening and the second opening. The door has a door opening that penetrates the door and is arranged so as to communicate with the second chamber, and when the first opening is closed, the door closes the first chamber and the door is closed. The second chamber and the outside are communicated with each other through an opening, and the at least one blower is a position among the door opening, a position near the door opening, the second opening, and a position near the second opening. It is arranged in at least one and is configured to introduce and derive air into and out of the second chamber.
　本開示の技術によれば、ロボット用制御装置の構造の簡略化が可能になる。 According to the technology of the present disclosure, the structure of the robot control device can be simplified.
図１は、実施の形態に係るロボット用制御装置を前方から見た構成の一例を示す斜視図である。FIG. 1 is a perspective view showing an example of a configuration in which the robot control device according to the embodiment is viewed from the front. 図２は、実施の形態に係るロボット用制御装置を後方から見た構成の一例を示す斜視図である。FIG. 2 is a perspective view showing an example of a configuration in which the robot control device according to the embodiment is viewed from the rear. 図３は、扉を開放した状態の実施の形態に係るロボット用制御装置を前方から見た構成の一例を示す斜視図である。FIG. 3 is a perspective view showing an example of a configuration in which the robot control device according to the embodiment in the state where the door is open is viewed from the front. 図４は、図３のロボット用制御装置において送風装置を取り外した状態を示す図である。FIG. 4 is a diagram showing a state in which the blower is removed in the robot control device of FIG. 図５は、図３のロボット用制御装置の内部を上方から下方に向かって見た一例を示す平面図である。FIG. 5 is a plan view showing an example of the inside of the robot control device of FIG. 3 viewed from above to below. 図６は、図５のロボット用制御装置のＶＩ－ＶＩ線に沿った断面図である。FIG. 6 is a cross-sectional view taken along the line VI-VI of the robot control device of FIG. 図７は、変形例に係るロボット用制御装置の構成の一例を図５と同様に示す図である。FIG. 7 is a diagram showing an example of the configuration of the robot control device according to the modified example in the same manner as in FIG. 図８は、変形例に係るロボット用制御装置の構成の一例を図６と同様に示す図である。FIG. 8 is a diagram showing an example of the configuration of the robot control device according to the modified example in the same manner as in FIG.
　以下において、本開示の実施の形態を、図面を参照しつつ説明する。なお、以下で説明する実施の形態は、いずれも包括的又は具体的な例を示すものである。また、以下の実施の形態における構成要素のうち、最上位概念を示す独立請求項に記載されていない構成要素については、任意の構成要素として説明される。また、添付の図面における各図は、模式的な図であり、必ずしも厳密に図示されたものでない。さらに、各図において、実質的に同一の構成要素に対しては同一の符号を付しており、重複する説明は省略又は簡略化される場合がある。 Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. It should be noted that all of the embodiments described below show comprehensive or specific examples. Further, among the components in the following embodiments, the components not described in the independent claims indicating the highest level concept are described as arbitrary components. In addition, each figure in the attached drawings is a schematic view and is not necessarily exactly illustrated. Further, in each figure, substantially the same components are designated by the same reference numerals, and duplicate description may be omitted or simplified.
　＜ロボット用制御装置の構成＞
　実施の形態に係るロボット用制御装置１の構成を説明する。ロボット用制御装置１は、ロボットの動作を制御する制御装置である。制御対象のロボットは、いかなるロボットであってもよい。例えば、制御対象のロボットは、産業用ロボット、サービスロボット、建設機械、トンネル掘削機、クレーン、荷役搬送車、及びヒューマノイド等の様々なロボットであってもよい。サービスロボットは、介護、医療、清掃、警備、案内、救助、調理、商品提供等の様々なサービス業で使用されるロボットである。本実施の形態では、制御対象のロボットは、垂直多関節型ロボット、水平多関節型ロボット、極座標型ロボット、円筒座標型ロボット及び直角座標型ロボット等の産業用ロボットであるとして説明する。このような産業用ロボットは、関節等を駆動するための駆動モータとしてサーボモータを備える。サーボモータを制御するために用いられるサーボアンプはパワーモジュールを含み、通電されることで発熱する。 <Structure of control device for robot>
The configuration of the robot control device 1 according to the embodiment will be described. The robot control device 1 is a control device that controls the operation of the robot. The robot to be controlled may be any robot. For example, the robot to be controlled may be various robots such as industrial robots, service robots, construction machines, tunnel excavators, cranes, cargo handling vehicles, and humanoids. Service robots are robots used in various service industries such as nursing care, medical care, cleaning, security, guidance, rescue, cooking, and product provision. In the present embodiment, the robot to be controlled will be described as an industrial robot such as a vertical articulated robot, a horizontal articulated robot, a polar coordinate robot, a cylindrical coordinate robot, and a right angle coordinate robot. Such an industrial robot includes a servomotor as a drive motor for driving joints and the like. The servo amplifier used to control the servo motor includes a power module and generates heat when energized.
　図１は、実施の形態に係るロボット用制御装置１を前方から見た構成の一例を示す斜視図である。図２は、実施の形態に係るロボット用制御装置１を後方から見た構成の一例を示す斜視図である。図３は、扉３０を開放した状態の実施の形態に係るロボット用制御装置１を前方から見た構成の一例を示す斜視図である。図４は、図３のロボット用制御装置１において送風装置４０を取り外した状態を示す図である。以下において、「ロボット用制御装置」を単に「制御装置」と呼ぶ場合もある。 FIG. 1 is a perspective view showing an example of a configuration in which the robot control device 1 according to the embodiment is viewed from the front. FIG. 2 is a perspective view showing an example of a configuration in which the robot control device 1 according to the embodiment is viewed from the rear. FIG. 3 is a perspective view showing an example of a configuration in which the robot control device 1 according to the embodiment in the state where the door 30 is opened is viewed from the front. FIG. 4 is a diagram showing a state in which the blower device 40 is removed in the robot control device 1 of FIG. In the following, the "robot control device" may be simply referred to as a "control device".
　図１～図３に示すように、制御装置１は、筐体１０を備える。本実施の形態では、筐体１０の形状は、直方体状であるが、これに限定されず、いかなる形状であってもよい。筐体１０は、直方体状の本体２０と、扉３０とを有する。本体２０は、矩形状の第一開口２０ａと、第一開口２０ａと対向する壁の一例である側壁２４に配置された第二開口２４ａ～２４ｄとを有する。扉３０は、矩形の蓋状の形状を有し、第一開口２０ａを開閉可能に本体２０に設けられている。例えば、扉３０は、本体２０の側壁２３にヒンジ３１を介して取り付けられ、片開きの扉を構成している。本体２０及び扉３０の形状は、直方体状及び矩形状に限定されない。本体２０は、第一開口と、第一開口と対向する壁に配置された第二開口とを有すればよく、扉３０は、第一開口を開閉することができればよい。 As shown in FIGS. 1 to 3, the control device 1 includes a housing 10. In the present embodiment, the shape of the housing 10 is a rectangular parallelepiped shape, but the shape is not limited to this and may be any shape. The housing 10 has a rectangular parallelepiped main body 20 and a door 30. The main body 20 has a rectangular first opening 20a and second openings 24a to 24d arranged on a side wall 24 which is an example of a wall facing the first opening 20a. The door 30 has a rectangular lid-like shape, and is provided in the main body 20 so that the first opening 20a can be opened and closed. For example, the door 30 is attached to the side wall 23 of the main body 20 via a hinge 31 to form a single door. The shapes of the main body 20 and the door 30 are not limited to the rectangular parallelepiped shape and the rectangular shape. The main body 20 may have a first opening and a second opening arranged on a wall facing the first opening, and the door 30 may open and close the first opening.
　本体２０は、底壁２１と、頂壁２５と、側壁２２～２４とを含み、各壁の形状は矩形状である。側壁２２～２４は、底壁２１の３つの周縁から立ち上がり、側壁２２～２４の底縁は底壁２１の周縁と接合されている。側壁２２～２４は、隣り合う側縁で互いに接合されている。側壁２２及び２３は互いに対向し、本実施の形態では略平行である。頂壁２５は底壁２１と対向するように配置され、本実施の形態では底壁２１と略平行である。頂壁２５の３つの周縁は側壁２２～２４の上縁と接合されている。底壁２１の１つの周縁と、頂壁２５の１つの周縁と、側壁２２及び２３それぞれの１つの側縁とは、矩形状の第一開口２０ａを形成する。第一開口２０ａと側壁２４とは対向する。 The main body 20 includes a bottom wall 21, a top wall 25, and side walls 22 to 24, and the shape of each wall is rectangular. The side walls 22 to 24 rise from the three peripheral edges of the bottom wall 21, and the bottom edges of the side walls 22 to 24 are joined to the peripheral edges of the bottom wall 21. The side walls 22 to 24 are joined to each other at adjacent side edges. The side walls 22 and 23 face each other and are substantially parallel in this embodiment. The top wall 25 is arranged so as to face the bottom wall 21, and is substantially parallel to the bottom wall 21 in the present embodiment. The three peripheral edges of the top wall 25 are joined to the upper edges of the side walls 22-24. One peripheral edge of the bottom wall 21, one peripheral edge of the top wall 25, and one side edge of each of the side walls 22 and 23 form a rectangular first opening 20a. The first opening 20a and the side wall 24 face each other.
　ここで、底壁２１から頂壁２５に向かう方向を上方向と呼び、その反対方向を下方向と呼ぶ。側壁２２から側壁２３に向かう方向を右方向と呼び、その反対方向を左方向と呼ぶ。第一開口２０ａから側壁２４に向かう方向を後方向と呼び、その反対方向を前方向と呼ぶ。第一開口２０ａは前方向に開口している。第二開口２４ａ～２４ｄは、後方向に開口し、上下方向に並んで配列されている。なお、第二開口２４ａ～２４ｄの数量は図２に示すような４つに限定されない。 Here, the direction from the bottom wall 21 to the top wall 25 is called the upward direction, and the opposite direction is called the downward direction. The direction from the side wall 22 to the side wall 23 is called the right direction, and the opposite direction is called the left direction. The direction from the first opening 20a toward the side wall 24 is called the rear direction, and the opposite direction is called the front direction. The first opening 20a is open in the forward direction. The second openings 24a to 24d open in the rear direction and are arranged side by side in the vertical direction. The quantity of the second openings 24a to 24d is not limited to four as shown in FIG.
　また、扉３０において、扉３０を貫通する第一扉開口３０ａ及び３０ｂと第二扉開口３０ｃとが形成されている。第一扉開口３０ａ及び３０ｂの数量は図１に示すような２つに限定されない。第一扉開口３０ａ及び３０ｂは上下方向に並んで配列されている。扉３０が第一開口２０ａを閉じたとき、第一扉開口３０ａ及び３０ｂ並びに第二扉開口３０ｃは、筐体１０の内部と外部とを連通する。さらに、第一扉開口３０ａ及び３０ｂの位置は、第二開口２４ａ～２４ｄの位置と対向する。第二扉開口３０ｃからは、ブレーカスイッチ１０１ａが扉３０の外側に突出する。ブレーカスイッチ１０１ａは、図示しないブレーカ１０１と接続されており、ブレーカ１０１の作動状態と非作動状態とを切り替えるスイッチである。ブレーカ１０１は、作動することにより、制御装置１内における電流の流れを遮断する遮断器である。 Further, in the door 30, the first door openings 30a and 30b and the second door opening 30c penetrating the door 30 are formed. The quantity of the first door openings 30a and 30b is not limited to the two as shown in FIG. The first door openings 30a and 30b are arranged side by side in the vertical direction. When the door 30 closes the first opening 20a, the first door openings 30a and 30b and the second door opening 30c communicate the inside and the outside of the housing 10. Further, the positions of the first door openings 30a and 30b face the positions of the second openings 24a to 24d. From the second door opening 30c, the breaker switch 101a projects to the outside of the door 30. The breaker switch 101a is connected to a breaker 101 (not shown) and is a switch for switching between an operating state and a non-operating state of the breaker 101. The breaker 101 is a circuit breaker that shuts off the flow of electric current in the control device 1 by operating.
　また、制御装置１は、第一開口２０ａ又はその近傍に送風装置４０を備えている。送風装置４０は、本体２０に着脱可能に設けられている。送風装置４０は、ファン４１を備え、これに限定されないが、本実施の形態では上下方向に配列された４つのファン４１を備える。４つのファン４１は、扉３０が第一開口２０ａを閉じたときに前後方向で第一扉開口３０ａ及び３０ｂに隣り合う、つまり、第一扉開口３０ａ及び３０ｂに臨むように配置されている。よって、４つのファン４１は、第一扉開口３０ａ及び３０ｂ又はその近傍に配置されている。４つのファン４１は、駆動することで、第一扉開口３０ａ及び３０ｂ又は第二開口２４ａ～２４ｄを通じて、筐体１０内に外気を強制的に導入し、筐体１０内の空気を第二開口２４ａ～２４ｄ又は第一扉開口３０ａ及び３０ｂを通じて外部に強制的に排出する。 Further, the control device 1 is provided with a blower device 40 at or near the first opening 20a. The blower 40 is detachably provided on the main body 20. The blower 40 includes a fan 41, and is not limited to the fan 41. In the present embodiment, the blower 40 includes four fans 41 arranged in the vertical direction. The four fans 41 are arranged so as to be adjacent to the first door openings 30a and 30b in the front-rear direction when the door 30 closes the first opening 20a, that is, to face the first door openings 30a and 30b. Therefore, the four fans 41 are arranged at or near the first door openings 30a and 30b. By driving the four fans 41, outside air is forcibly introduced into the housing 10 through the first door openings 30a and 30b or the second openings 24a to 24d, and the air in the housing 10 is introduced into the second opening. It is forcibly discharged to the outside through 24a to 24d or the first door openings 30a and 30b.
　また、制御装置１は、扉３０に、保持部材３２と、操作器コネクタ５０と、操作パネル６０とを備える。操作器コネクタ５０は、接続装置の一例であり、図示しないロボットの操作器の通信コネクタと物理的及び電気的に接続されるように構成されている。制御装置１は、操作器コネクタ５０を介して操作器と信号及び電流等を送受信する。保持部材３２は、ロボットの操作器を保持する。例えば、保持部材３２は、当該操作器が掛けられるように構成されている。例えば、操作器は、ロボットのティーチング（教示）用の操作器であってもよく、その他の操作器であってもよい。 Further, the control device 1 includes a holding member 32, an operator connector 50, and an operation panel 60 on the door 30. The actuator connector 50 is an example of a connecting device, and is configured to be physically and electrically connected to a communication connector of a robot actuator (not shown). The control device 1 transmits and receives signals, currents, and the like to and from the actuator via the actuator connector 50. The holding member 32 holds the robot operator. For example, the holding member 32 is configured so that the actuator can be hung. For example, the operating device may be an operating device for teaching (teaching) the robot, or may be another operating device.
　操作パネル６０は、制御装置１の制御内容を調節するためのパネルである。例えば、操作パネル６０には、ロボットの動作モードを設定するためのモード設定装置６１、及びロボットの非常停止装置６２が配置されている。操作パネル６０には、種々の情報を表示するための表示灯及びディスプレイ等の表示装置、並びに、出力を調整するための調整器等が配置されてもよい。ロボットの非常停止装置６２は、作動することでロボットを停止させる装置であり、非常停止指令を入力するためのスイッチ等の入力装置であってもよい。 The operation panel 60 is a panel for adjusting the control content of the control device 1. For example, on the operation panel 60, a mode setting device 61 for setting the operation mode of the robot and an emergency stop device 62 for the robot are arranged. The operation panel 60 may be provided with display devices such as indicator lights and displays for displaying various information, and adjusters for adjusting the output. The emergency stop device 62 of the robot is a device that stops the robot by operating, and may be an input device such as a switch for inputting an emergency stop command.
　モード設定装置６１は、動作モードを設定するための切替スイッチ等の入力装置であってもよい。設定される動作モードは、教示モード、手動運転モード、自動運転モード及び修正自動運転モード等の少なくとも１つを含んでもよい。教示モードは、ロボットに作業等の動作を教示するための運転モードであり、例えば、操作者が操作器を用いて手動でロボットを動作させる等により、ロボットに当該動作をプログラムするための運転モードである。手動運転モードは、操作器を用いてロボットを手動操作する運転モードであり、操作者によって操作器に入力される操作に従った動作、つまり、当該操作をトレースした動作をロボットに実行させる運転モードである。自動運転モードは、ロボットに自動で動作させる運転モードであり、教示等により設定されたプログラムに従ってロボットに作業等の動作を自動で実行させる運転モードである。修正自動運転モードは、ロボットが自動運転を実行中に、手動運転を受け付ける運転モードである。例えば、修正自動運転モードでは、自動運転と手動運転とが組み合わされてもよく、自動運転中に手動運転による動作の修正が受け付けられるように構成されてもよい。 The mode setting device 61 may be an input device such as a changeover switch for setting the operation mode. The operation mode to be set may include at least one of a teaching mode, a manual operation mode, an automatic operation mode, a modified automatic operation mode, and the like. The teaching mode is an operation mode for teaching an operation such as work to the robot. For example, an operation mode for programming the operation to the robot by an operator manually operating the robot using an actuator or the like. Is. The manual operation mode is an operation mode in which the robot is manually operated using the actuator, and is an operation mode in which the robot executes an operation according to an operation input to the operator by the operator, that is, an operation that traces the operation. Is. The automatic operation mode is an operation mode in which the robot automatically operates, and is an operation mode in which the robot automatically executes an operation such as work according to a program set by teaching or the like. The modified automatic operation mode is an operation mode in which the robot accepts manual operation while the robot is executing automatic operation. For example, in the modified automatic operation mode, automatic operation and manual operation may be combined, and the operation may be modified by manual operation during automatic operation.
　なお、扉３０には、ブレーカスイッチ１０１ａ、操作器コネクタ５０、モード設定装置６１及びロボットの非常停止装置６２の少なくとも１つが配置されてもよい。 At least one of the breaker switch 101a, the actuator connector 50, the mode setting device 61, and the robot emergency stop device 62 may be arranged on the door 30.
　また、制御装置１は、本体２０の側壁２４に、ロボットコネクタ８１（図２参照）を備えている。ロボットコネクタ８１は、図示しないロボットの通信コネクタと物理的及び電気的に接続されるように構成されている。制御装置１は、ロボットコネクタ８１を介してロボットと信号及び電流等を送受信する。 Further, the control device 1 is provided with a robot connector 81 (see FIG. 2) on the side wall 24 of the main body 20. The robot connector 81 is configured to be physically and electrically connected to a communication connector of a robot (not shown). The control device 1 transmits / receives signals, currents, and the like to and from the robot via the robot connector 81.
　また、制御装置１は、後述するブレーカ１０１に、図示しない外部電源（「一次電源」とも呼ばれる）から延びる電線が接続されるように構成されている。制御装置１は当該外部電源から電流等の供給を受ける。ブレーカ１０１は、作動することで、当該外部電源から制御装置１への電流の供給を遮断する。 Further, the control device 1 is configured so that an electric wire extending from an external power source (also referred to as “primary power source”) (also referred to as “primary power source”) (not shown) is connected to the breaker 101 described later. The control device 1 receives a current or the like from the external power source. The breaker 101 operates to cut off the supply of current from the external power source to the control device 1.
　図５は、図３のロボット用制御装置１の内部を上方から下方に向かって見た一例を示す平面図である。図３～図５に示すように、本体２０は、その内部空間を仕切る隔壁２６及び２７を有している。隔壁２６及び２７は、前後方向及び上下方向に延び、本体２０の内部空間を左右方向に仕切る。隔壁２６及び２７は、側壁２２及び２３に沿って延び、本実施の形態では側壁２２及び２３と略平行である。第一室２０１が側壁２３と第一隔壁２６との間に区画形成される。第二室２０２が隔壁２６及び２７の間に区画形成される。第三室２０３ａ及び２０３ｂが側壁２２と第二隔壁２７との間に区画形成される。 FIG. 5 is a plan view showing an example of the inside of the robot control device 1 of FIG. 3 viewed from above to below. As shown in FIGS. 3 to 5, the main body 20 has partition walls 26 and 27 that partition the internal space thereof. The partition walls 26 and 27 extend in the front-rear direction and the up-down direction, and partition the internal space of the main body 20 in the left-right direction. The partition walls 26 and 27 extend along the side walls 22 and 23 and are substantially parallel to the side walls 22 and 23 in this embodiment. The first chamber 201 is partitioned between the side wall 23 and the first partition wall 26. The second chamber 202 is partitioned between the partition walls 26 and 27. The third chambers 203a and 203b are partitioned between the side wall 22 and the second partition wall 27.
　第一室２０１は、底壁２１と、側壁２３及び２４と、頂壁２５と、第一隔壁２６とによって囲まれ、第一開口２０ａで開放されている。第二室２０２は、底壁２１と、側壁２４と、頂壁２５と、隔壁２６及び２７とによって囲まれ、第一開口２０ａ及び第二開口２４ａ～２４ｄで開放されている。送風装置４０は、第一開口２０ａ又はその近傍且つ第二室２０２に配置されている。 The first chamber 201 is surrounded by the bottom wall 21, the side walls 23 and 24, the top wall 25, and the first partition wall 26, and is opened by the first opening 20a. The second chamber 202 is surrounded by a bottom wall 21, a side wall 24, a top wall 25, and partition walls 26 and 27, and is opened by a first opening 20a and a second opening 24a to 24d. The blower 40 is arranged in or near the first opening 20a and in the second chamber 202.
　第三室２０３ａ及び２０３ｂは、底壁２１と、側壁２２及び２４と、頂壁２５と、第二隔壁２７とによって囲まれている。第三室２０３ａ及び２０３ｂは、前後方向に配列され、第三隔壁２８によって仕切られている。第三室２０３ａは、第一開口２０ａで開放され、第三室２０３ｂは、第三隔壁２８によって閉じられている。なお、第三隔壁２８は、本体２０に対して着脱可能であるように構成されてもよい。必要時に第三隔壁２８を取り外すことにより、第一開口２０ａを通じた第三室２０３ｂへのアクセスが可能であり、不要時に第三隔壁２８を取り付けることにより、第三室２０３ｂへのアクセスを制限することが可能である。 The third chambers 203a and 203b are surrounded by a bottom wall 21, side walls 22 and 24, a top wall 25, and a second partition wall 27. The third chambers 203a and 203b are arranged in the front-rear direction and are separated by a third partition wall 28. The third chamber 203a is opened by the first opening 20a, and the third chamber 203b is closed by the third partition wall 28. The third partition wall 28 may be configured to be removable from the main body 20. Access to the third chamber 203b through the first opening 20a is possible by removing the third partition wall 28 when necessary, and access to the third chamber 203b is restricted by attaching the third partition wall 28 when not needed. It is possible.
　扉３０は、第一開口２０ａを閉じたとき、第一室２０１を閉塞し、第一扉開口３０ａ及び３０ｂを介して第二室２０２と外部とを連通し、第三室２０３ａを閉塞する。例えば、第一開口２０ａでの第一室２０１の周囲、具体的には、底壁２１、側壁２３、頂壁２５及び第一隔壁２６の縁にパッキン等の封止部材が配置されてもよい。これにより、第一室２０１は、扉３０と封止部材とによって気密性又は液密性を高めることができ、粉塵等の異物の侵入を抑えることができる。また、底壁２１、側壁２２、頂壁２５及び第二隔壁２７の縁、並びに、第二扉開口３０ｃの内周にパッキン等の封止部材が配置されてもよい。これにより、第三室２０３ａは、扉３０と封止部材とによって気密性又は液密性を高めることができ、粉塵等の異物の侵入を抑えることができる。 When the first opening 20a is closed, the door 30 closes the first chamber 201, communicates the second chamber 202 with the outside through the first door openings 30a and 30b, and closes the third chamber 203a. For example, a sealing member such as packing may be arranged around the first chamber 201 at the first opening 20a, specifically, around the edges of the bottom wall 21, the side wall 23, the top wall 25, and the first partition wall 26. .. As a result, the door 30 and the sealing member of the first chamber 201 can improve the airtightness or liquidtightness, and can suppress the invasion of foreign substances such as dust. Further, a sealing member such as packing may be arranged on the edges of the bottom wall 21, the side wall 22, the top wall 25 and the second partition wall 27, and the inner circumference of the second door opening 30c. As a result, the third chamber 203a can be made airtight or liquidtight by the door 30 and the sealing member, and foreign matter such as dust can be suppressed from entering.
　また、制御装置１は、第一室２０１内に配置された第一回路９０と、第二室２０２内に配置されたヒートシンク１１１～１１４と、第三室２０３ａ及び２０３ｂ内に配置された第二回路１００とを備える。第一回路９０は、ロボットの駆動を制御するための回路である。第一回路９０は、サーボアンプ９１及びパワーユニット９２等を含む。サーボアンプ９１は、ロボットのサーボモータ（図示せず）への供給電流を制御することでサーボモータを制御する。サーボアンプ９１は、サーボモータに供給する電流を制御するパワーモジュールを含んでもよい。パワーユニット９２は、外部電源（図示せず）から供給された電力を制御装置１の各部に供給する。パワーユニット９２は、交流電力を直流電力に変換する整流回路、ＡＣ／ＤＣ回路等を含んでもよい。サーボアンプ９１は通電時に発熱する。パワーユニット９２はキャパシタ等を含み、通電時に発熱する。サーボアンプ９１は第一発熱素子の一例であり、パワーユニット９２は第二発熱素子の一例である。 Further, the control device 1 includes a first circuit 90 arranged in the first chamber 201, heat sinks 111 to 114 arranged in the second chamber 202, and a second circuit arranged in the third chambers 203a and 203b. It includes a circuit 100. The first circuit 90 is a circuit for controlling the drive of the robot. The first circuit 90 includes a servo amplifier 91, a power unit 92, and the like. The servo amplifier 91 controls the servomotor by controlling the supply current of the robot to the servomotor (not shown). The servo amplifier 91 may include a power module that controls the current supplied to the servomotor. The power unit 92 supplies the electric power supplied from the external power source (not shown) to each part of the control device 1. The power unit 92 may include a rectifier circuit that converts AC power into DC power, an AC / DC circuit, and the like. The servo amplifier 91 generates heat when energized. The power unit 92 includes a capacitor and the like, and generates heat when energized. The servo amplifier 91 is an example of the first heat generating element, and the power unit 92 is an example of the second heat generating element.
　なお、サーボモータは、電気モータと、電気モータの回転子の回転角を検出するエンコーダと、電気モータの電流値を検出する電流センサとを備えている。サーボモータは、サーボアンプ９１から出力される電流によって、電気モータを動作させ、エンコーダ及び電流センサの検出値をサーボアンプ９１に出力する。サーボアンプ９１は、サーボモータからフィードバックされたエンコーダの検出値に基づき、当該サーボモータの回転子の回転量及び回転速度等を検出し、回転子の回転量及び回転速度並びに電流センサの電流値等の検出結果を用いて当該サーボモータの回転開始、回転停止、回転速度及び回転トルクを制御する。これにより、サーボアンプ９１は、サーボモータを任意の回転位置で停止させることができ、任意の回転速度で回転させることができ、任意の回転トルクで動作させることができる。よって、サーボモータによって駆動されるロボットの各部は多様に且つ緻密に動作することができる。 The servomotor is equipped with an electric motor, an encoder that detects the rotation angle of the rotor of the electric motor, and a current sensor that detects the current value of the electric motor. The servomotor operates the electric motor by the current output from the servo amplifier 91, and outputs the detected values of the encoder and the current sensor to the servo amplifier 91. The servo amplifier 91 detects the rotation amount and rotation speed of the rotor of the servomotor based on the detection value of the encoder fed back from the servomotor, and the rotation amount and rotation speed of the rotor and the current value of the current sensor and the like. The rotation start, rotation stop, rotation speed, and rotation torque of the servomotor are controlled by using the detection result of. As a result, the servo amplifier 91 can stop the servomotor at an arbitrary rotation position, rotate it at an arbitrary rotation speed, and operate it at an arbitrary rotation torque. Therefore, each part of the robot driven by the servomotor can operate in various and precise manners.
　第二回路１００は、電気回路であり、ブレーカ１０１及び変圧器１０２等を含む。ブレーカ１０１は第三室２０３ａに配置され、変圧器１０２は第三室２０３ｂに配置されている。ブレーカ１０１と変圧器１０２とは電気的に接続され、ブレーカ１０１は作動することで変圧器１０２への供給電流を遮断する。変圧器１０２は、ブレーカ１０１を介して外部電源から供給された電力を変圧し第一回路９０のパワーユニット９２に供給する。変圧器１０２は通電時に発熱する。なお、第三室２０３ｂには、変圧器１０２に加えて又は変圧器１０２の代わりに、他の電気回路等が配置されてもよい。 The second circuit 100 is an electric circuit and includes a breaker 101, a transformer 102, and the like. The breaker 101 is arranged in the third chamber 203a, and the transformer 102 is arranged in the third chamber 203b. The breaker 101 and the transformer 102 are electrically connected, and the breaker 101 operates to cut off the supply current to the transformer 102. The transformer 102 transforms the electric power supplied from the external power source via the breaker 101 and supplies it to the power unit 92 of the first circuit 90. The transformer 102 generates heat when energized. In addition, in addition to the transformer 102 or in place of the transformer 102, another electric circuit or the like may be arranged in the third chamber 203b.
　ヒートシンク１１１～１１３は、第一隔壁２６に配置され、ヒートシンク１１４は、第二隔壁２７に配置されている。ヒートシンク１１１～１１４は、熱伝導性の高い材料で構成されている。例えば、ヒートシンク１１１～１１４は、アルミニウム、鉄、銅等の熱伝導性の高い金属で構成されてもよい。 The heat sinks 111 to 113 are arranged on the first partition wall 26, and the heat sink 114 is arranged on the second partition wall 27. The heat sinks 111 to 114 are made of a material having high thermal conductivity. For example, the heat sinks 111 to 114 may be made of a metal having high thermal conductivity such as aluminum, iron, and copper.
　図６は、図５のロボット用制御装置１のＶＩ－ＶＩ線に沿った断面図である。図６に示すように、ヒートシンク１１１は、支持板１１５を介して第一隔壁２６に配置されている。ヒートシンク１１１は支持板１１５に取り付けられている。支持板１１５は第一隔壁２６に取り付けられ、第一隔壁２６に形成された図示しない開口を塞ぐ。ヒートシンク１１１は、第一室２０１及び第二室２０２に露出している。第一室２０１において、ヒートシンク１１１は、第一回路９０のサーボアンプ９１の熱が伝達されるように構成されている。例えば、ヒートシンク１１１は、図示しない薄厚の絶縁部材を介してサーボアンプ９１と隣接して配置される。 FIG. 6 is a cross-sectional view of the robot control device 1 of FIG. 5 along the VI-VI line. As shown in FIG. 6, the heat sink 111 is arranged on the first partition wall 26 via the support plate 115. The heat sink 111 is attached to the support plate 115. The support plate 115 is attached to the first partition wall 26 and closes an opening (not shown) formed in the first partition wall 26. The heat sink 111 is exposed in the first chamber 201 and the second chamber 202. In the first chamber 201, the heat sink 111 is configured to transfer the heat of the servo amplifier 91 of the first circuit 90. For example, the heat sink 111 is arranged adjacent to the servo amplifier 91 via a thin insulating member (not shown).
　また、ヒートシンク１１１は、第二室２０２に突出する複数の放熱板を一体的に含み、複数の放熱板を介して第二室２０２内の空気と接触し熱交換する。これにより、ヒートシンク１１１は、サーボアンプ９１の熱を第二室２０２に放熱することができる。そして、ヒートシンク１１１は、複数の放熱板によって、熱交換を行うための面積を増大することができる。なお、支持板１１５は、ヒートシンク１１１と同様に、熱伝導性の高い材料で構成されていてもよい。さらに、支持板１１５とヒートシンク１１１とは、同じ材料で構成され一体化されていてもよい。これにより、サーボアンプ９１の熱を第二室２０２に放熱するための面積を増大させることができる。さらに、部品点数の低減が可能である。 Further, the heat sink 111 integrally includes a plurality of heat radiating plates protruding from the second chamber 202, and contacts the air in the second chamber 202 through the plurality of heat radiating plates to exchange heat. As a result, the heat sink 111 can dissipate the heat of the servo amplifier 91 to the second chamber 202. The area of the heat sink 111 for heat exchange can be increased by the plurality of heat radiating plates. The support plate 115 may be made of a material having high thermal conductivity, similarly to the heat sink 111. Further, the support plate 115 and the heat sink 111 may be made of the same material and integrated. As a result, the area for dissipating the heat of the servo amplifier 91 to the second chamber 202 can be increased. Furthermore, the number of parts can be reduced.
　ヒートシンク１１２及び１１３は、ヒートシンク１１１よりも上方において、支持板１１６を介して第一隔壁２６に配置されている。つまり、ヒートシンク１１２及び１１３と、ヒートシンク１１１とは、第一扉開口３０ａ及び３０ｂから第二開口２４ａ～２４ｄに向かう方向であり且つ送風装置４０が発生する気流の方向である気流方向に対して交差する方向に、配列される。ヒートシンク１１２及び１１３は支持板１１６に取り付けられている。支持板１１６は第一隔壁２６に取り付けられ、第一隔壁２６に形成された図示しない開口を塞ぐ。ヒートシンク１１２及び１１３は、第一室２０１及び第二室２０２に露出している。第一室２０１において、ヒートシンク１１２及び１１３は、第一回路９０のパワーユニット９２の熱が伝達されるように構成されている。例えば、ヒートシンク１１２及び１１３は、図示しない薄厚の絶縁部材を介してパワーユニット９２と隣接して配置される。 The heat sinks 112 and 113 are arranged on the first partition wall 26 via the support plate 116 above the heat sink 111. That is, the heat sinks 112 and 113 and the heat sink 111 intersect with respect to the airflow direction which is the direction from the first door openings 30a and 30b toward the second openings 24a to 24d and the direction of the airflow generated by the blower 40. It is arranged in the direction of the door. The heat sinks 112 and 113 are attached to the support plate 116. The support plate 116 is attached to the first partition wall 26 and closes an opening (not shown) formed in the first partition wall 26. The heat sinks 112 and 113 are exposed in the first chamber 201 and the second chamber 202. In the first chamber 201, the heat sinks 112 and 113 are configured to transfer the heat of the power unit 92 of the first circuit 90. For example, the heat sinks 112 and 113 are arranged adjacent to the power unit 92 via a thin insulating member (not shown).
　また、ヒートシンク１１２及び１１３はそれぞれ、第二室２０２に突出する複数の放熱板を一体的に含み、複数の放熱板を介して第二室２０２内の空気と接触し熱交換する。これにより、ヒートシンク１１２及び１１３は、パワーユニット９２の熱を第二室２０２に放熱することができる。そして、ヒートシンク１１２及び１１３はそれぞれ、複数の放熱板によって、熱交換を行うための面積を増大することができる。なお、支持板１１６は、熱伝導性の高い材料で構成されていてもよい。さらに、支持板１１６とヒートシンク１１２及び１１３とは、同じ材料で構成され一体化されていてもよい。これにより、パワーユニット９２の熱を第二室２０２に放熱するための面積を増大させることができる。さらに、部品点数の低減が可能である。 Further, each of the heat sinks 112 and 113 integrally includes a plurality of heat radiating plates protruding into the second chamber 202, and contacts the air in the second chamber 202 through the plurality of heat radiating plates to exchange heat. As a result, the heat sinks 112 and 113 can dissipate the heat of the power unit 92 to the second chamber 202. The areas of the heat sinks 112 and 113 for heat exchange can be increased by a plurality of heat radiating plates, respectively. The support plate 116 may be made of a material having high thermal conductivity. Further, the support plate 116 and the heat sinks 112 and 113 may be made of the same material and integrated. As a result, the area for dissipating the heat of the power unit 92 to the second chamber 202 can be increased. Furthermore, the number of parts can be reduced.
　図５に戻り、ヒートシンク１１４は、第二隔壁２７に配置されている。ヒートシンク１１４は、第二室２０２に対して、ヒートシンク１１１～１１３と反対側に配置されている。ヒートシンク１１４は、ヒートシンク１１１～１１３と同様に、第二隔壁２７に形成された図示しない開口を塞ぐ支持板（図示せず）を介して第二隔壁２７に配置されてもよい。ヒートシンク１１４は、第二室２０２及び第三室２０３ｂに露出している。第三室２０３ｂにおいて、ヒートシンク１１４は、変圧器１０２の熱が伝達されるように構成されている。例えば、ヒートシンク１１４は、図示しない薄厚の絶縁部材を介して変圧器１０２と隣接して配置される。 Returning to FIG. 5, the heat sink 114 is arranged on the second partition wall 27. The heat sink 114 is arranged on the side opposite to the heat sinks 111 to 113 with respect to the second chamber 202. Similar to the heat sinks 111 to 113, the heat sink 114 may be arranged on the second partition wall 27 via a support plate (not shown) that closes an opening (not shown) formed in the second partition wall 27. The heat sink 114 is exposed in the second chamber 202 and the third chamber 203b. In the third chamber 203b, the heat sink 114 is configured to transfer the heat of the transformer 102. For example, the heat sink 114 is arranged adjacent to the transformer 102 via a thin insulating member (not shown).
　また、ヒートシンク１１４は、第二室２０２に突出する複数の放熱板を一体的に含み、複数の放熱板を介して第二室２０２内の空気と接触し熱交換する。これにより、ヒートシンク１１４は、変圧器１０２の熱を第二室２０２に放熱することができる。そして、ヒートシンク１１４は、複数の放熱板によって、熱交換を行うための面積を増大することができる。なお、ヒートシンク１１４を支持する支持板（図示せず）が、熱伝導性の高い材料で構成されていてもよく、さらに、ヒートシンク１１４と同じ材料で構成され一体化されていてもよい。これにより、変圧器１０２の熱を第二室２０２に放熱するための面積を増大させることができる。さらに、部品点数の低減が可能である。 Further, the heat sink 114 integrally includes a plurality of heat radiating plates protruding from the second chamber 202, and contacts the air in the second chamber 202 through the plurality of heat radiating plates to exchange heat. As a result, the heat sink 114 can dissipate the heat of the transformer 102 to the second chamber 202. The area of the heat sink 114 for heat exchange can be increased by the plurality of heat radiating plates. The support plate (not shown) that supports the heat sink 114 may be made of a material having high thermal conductivity, or may be made of the same material as the heat sink 114 and integrated. As a result, the area for dissipating the heat of the transformer 102 to the second chamber 202 can be increased. Furthermore, the number of parts can be reduced.
　また、制御装置１は、第二隔壁２７に配置された抵抗体１３１を備えてもよい。抵抗体１３１は第二室２０２に露出している。抵抗体１３１は通電されることで発熱する電気抵抗体である。抵抗体１３１は、第一回路９０と電気的に接続され、第一回路９０からの余剰電力を消費するように構成されている。抵抗体１３１は、発熱することで供給された電力を消費する。抵抗体１３１は、第二室２０２内の空気と接触し熱交換することで発生した熱を放熱する。例えば、ロボットのサーボモータは回生電力を発生する場合があり、この回生電力が第一回路９０に供給され、余剰の電力となり得る。第一回路９０は、当該回路を保護するために余剰の電力を抵抗体１３１に供給する。 Further, the control device 1 may include a resistor 131 arranged on the second partition wall 27. The resistor 131 is exposed in the second chamber 202. The resistor 131 is an electric resistor that generates heat when energized. The resistor 131 is electrically connected to the first circuit 90 and is configured to consume the surplus power from the first circuit 90. The resistor 131 consumes the supplied electric power by generating heat. The resistor 131 dissipates heat generated by contacting with the air in the second chamber 202 and exchanging heat. For example, the servomotor of the robot may generate regenerative power, and this regenerative power may be supplied to the first circuit 90 to become surplus power. The first circuit 90 supplies the resistor 131 with excess power to protect the circuit.
　＜制御装置の動作＞
　実施の形態に係る制御装置１の動作を説明する。図１及び図２に示すように、ロボット（図示せず）を制御する使用時等を含む通常時、制御装置１の筐体１０の扉３０は閉じられている。このとき、筐体１０の第一室２０１並びに第三室２０３ａ及び２０３ｂは閉塞されている。第二室２０２は、第一扉開口３０ａ及び３０ｂ、第一開口２０ａ、並びに、第二開口２４ａ～２４ｄを介して、筐体１０の外部に開放されている。 <Operation of control device>
The operation of the control device 1 according to the embodiment will be described. As shown in FIGS. 1 and 2, the door 30 of the housing 10 of the control device 1 is closed during normal times including use for controlling a robot (not shown). At this time, the first chamber 201 and the third chambers 203a and 203b of the housing 10 are closed. The second chamber 202 is opened to the outside of the housing 10 through the first door openings 30a and 30b, the first opening 20a, and the second openings 24a to 24d.
　図５及び図６に示すように、制御装置１の使用時、制御装置１は通電され、それにより、第一回路９０及び第二回路１００は通電される。第一回路９０は、送風装置４０を稼働させる。さらに、第一回路９０は、サーボアンプ９１及びパワーユニット９２を駆動し、制御装置１と電気的に接続されたロボット（図示せず）を動作させる。具体的には、第一回路９０は、サーボモータを駆動することでロボットのアームの関節及びエンドエフェクタ（図示せず）等を動作させる。 As shown in FIGS. 5 and 6, when the control device 1 is used, the control device 1 is energized, whereby the first circuit 90 and the second circuit 100 are energized. The first circuit 90 operates the blower 40. Further, the first circuit 90 drives the servo amplifier 91 and the power unit 92 to operate a robot (not shown) electrically connected to the control device 1. Specifically, the first circuit 90 operates a robot arm joint, an end effector (not shown), and the like by driving a servomotor.
　送風装置４０のファン４１は、一方向に回転駆動することにより、筐体１０の前方から後方に向かう気流を強制的に発生させる。つまり、ファン４１は、第一扉開口３０ａ及び３０ｂ並びに第一開口２０ａを通って第二室２０２に流入し且つ第二開口２４ａ～２４ｄを通って第二室２０２から流出する気流を発生させる。よって、第二室２０２は、第一扉開口３０ａ及び３０ｂから第二開口２４ａ～２４ｄに向かう直線状の気体の流路を構成する。なお、ファン４１は、上記の一方向と反対方向に回転駆動されてもよい。この場合、第二室２０２内では、第二開口２４ａ～２４ｄから第一扉開口３０ａ及び３０ｂに向かう気流が生成される。 The fan 41 of the blower device 40 is rotationally driven in one direction to forcibly generate an air flow from the front to the rear of the housing 10. That is, the fan 41 generates an air flow that flows into the second chamber 202 through the first door openings 30a and 30b and the first opening 20a and flows out from the second chamber 202 through the second openings 24a to 24d. Therefore, the second chamber 202 constitutes a linear gas flow path from the first door openings 30a and 30b to the second openings 24a to 24d. The fan 41 may be rotationally driven in a direction opposite to the above one direction. In this case, in the second chamber 202, an air flow is generated from the second openings 24a to 24d toward the first door openings 30a and 30b.
　外気は、ファン４１によって第二室２０２内に強制的に導入された後、強制的に排出される。導入された外気は、ヒートシンク１１１～１１４と接触し熱交換することで吸熱する。これにより、第一回路９０のサーボアンプ９１及びパワーユニット９２の熱は、ヒートシンク１１１～１１３を介して外気に吸熱される。さらに、第二回路１００の変圧器１０２の熱は、ヒートシンク１１４を介して外気に吸熱される。また、外気は、抵抗体１３１と接触し熱交換することで吸熱する。 The outside air is forcibly introduced into the second chamber 202 by the fan 41 and then forcibly discharged. The introduced outside air absorbs heat by contacting the heat sinks 111 to 114 and exchanging heat. As a result, the heat of the servo amplifier 91 and the power unit 92 of the first circuit 90 is endothermic to the outside air via the heat sinks 111 to 113. Further, the heat of the transformer 102 of the second circuit 100 is endothermic to the outside air through the heat sink 114. Further, the outside air absorbs heat by contacting with the resistor 131 and exchanging heat.
　サーボアンプ９１に対して吸熱するヒートシンク１１１と、パワーユニット９２に対して吸熱するヒートシンク１１２及び１１３とは、筐体１０の上下方向に分かれて配置されている。ヒートシンク１１１と、ヒートシンク１１２及び１１３とは、送風装置４０によって生成される外気の流れの上流又は下流の位置関係で配列されず、外気の流れの方向と交差する方向に配列されている。ヒートシンク１１１が熱交換する外気は、ヒートシンク１１２又は１１３との熱交換後の外気ではなく、筐体１０の外部から導入された新鮮な外気である。ヒートシンク１１２及び１１３が熱交換する外気は、ヒートシンク１１１との熱交換後の外気ではなく、筐体１０の外部から導入された新鮮な外気である。これにより、ヒートシンク１１１～１１３での高い効率での熱交換が可能である。なお、図６では、ヒートシンク１１３は、ヒートシンク１１２に対して、第二室２０２内の外気の流れの下流に位置するが、上下方向にずらして配置されてもよい。これにより、ヒートシンク１１３には、より新鮮な外気が導入される。 The heat sink 111 that absorbs heat from the servo amplifier 91 and the heat sinks 112 and 113 that absorb heat from the power unit 92 are arranged separately in the vertical direction of the housing 10. The heat sink 111 and the heat sinks 112 and 113 are not arranged in a positional relationship upstream or downstream of the flow of outside air generated by the blower 40, but are arranged in a direction intersecting the direction of the flow of outside air. The outside air that the heat sink 111 exchanges heat with is not the outside air after heat exchange with the heat sink 112 or 113, but the fresh outside air introduced from the outside of the housing 10. The outside air that the heat sinks 112 and 113 exchange heat with is not the outside air after the heat exchange with the heat sink 111, but the fresh outside air introduced from the outside of the housing 10. As a result, heat exchange between the heat sinks 111 to 113 can be performed with high efficiency. In FIG. 6, the heat sink 113 is located downstream of the flow of outside air in the second chamber 202 with respect to the heat sink 112, but may be arranged so as to be displaced in the vertical direction. As a result, fresher outside air is introduced into the heat sink 113.
　また、ヒートシンク１１４は、第二室２０２に関して、筐体１０の左右方向、つまり、外気の流れに直交する方向で、ヒートシンク１１１～１１３と反対側に配置されている。ヒートシンク１１４が熱交換する外気は、ヒートシンク１１１～１１３の熱交換による影響が低い外気である。これにより、ヒートシンク１１４での高い効率での熱交換が可能である。 Further, the heat sink 114 is arranged on the side opposite to the heat sinks 111 to 113 with respect to the second chamber 202 in the left-right direction of the housing 10, that is, in the direction orthogonal to the flow of the outside air. The outside air that the heat sink 114 exchanges heat with is the outside air that is less affected by the heat exchange of the heat sinks 111 to 113. As a result, heat exchange with high efficiency in the heat sink 114 is possible.
　また、第一室２０１並びに第三室２０３ａ及び２０３ｂは、第二室２０２から遮蔽されており、送風装置４０による外気の強制的な導入も受けない。このため、第一室２０１並びに第三室２０３ａ及び２０３ｂへの異物の侵入が抑えられる。 Further, the first chamber 201 and the third chambers 203a and 203b are shielded from the second chamber 202, and are not subject to the forced introduction of outside air by the blower 40. Therefore, the invasion of foreign matter into the first chamber 201 and the third chambers 203a and 203b is suppressed.
　また、外気の導出入部が筐体１０の前面の扉３０と背面の側壁２４とに限定される。さらに、扉３０に、保持部材３２、操作器コネクタ５０、操作パネル６０及びブレーカスイッチ１０１ａが配置され、側壁２４に、ロボットコネクタ８１が配置されている。このため、底壁２１、側壁２２及び２３、並びに頂壁２５に隣接して、筐体１０の周囲に、他の制御装置１等の他の装置の配置が可能である。例えば、複数の制御装置１が、上下方向及び左右方向に積み重ねられて配置されることが可能である。 Further, the outside air lead-in / entry portion is limited to the front door 30 and the back side wall 24 of the housing 10. Further, a holding member 32, an operator connector 50, an operation panel 60 and a breaker switch 101a are arranged on the door 30, and a robot connector 81 is arranged on the side wall 24. Therefore, other devices such as another control device 1 can be arranged around the housing 10 adjacent to the bottom wall 21, the side walls 22 and 23, and the top wall 25. For example, a plurality of control devices 1 can be stacked and arranged in the vertical direction and the horizontal direction.
　また、図３及び図５に示すように、制御装置１のメンテナンス時等を含む非通常時、筐体１０の扉３０が開放される。１つの扉３０を開放するのみで、第一開口２０ａを通じて、第一室２０１、第二室２０２並びに第三室２０３ａ及び２０３ｂへアクセスできる。例えば、第一回路９０、送風装置４０、及びブレーカ１０１の点検、修理及び交換が可能である。さらに、第三隔壁２８を取り外すことによって、第三室２０３ｂ内の点検等が可能である。 Further, as shown in FIGS. 3 and 5, the door 30 of the housing 10 is opened during an abnormal time including maintenance of the control device 1. By opening only one door 30, the first room 201, the second room 202, and the third room 203a and 203b can be accessed through the first opening 20a. For example, the first circuit 90, the blower 40, and the breaker 101 can be inspected, repaired, and replaced. Further, by removing the third partition wall 28, it is possible to inspect the inside of the third chamber 203b.
　＜効果等＞
　上述のような実施の形態に係るロボット用制御装置１は、第一開口２０ａと第一開口２０ａと対向する側壁２４に配置された第二開口２４ａ～２４ｄとを有する本体２０と、第一開口２０ａを開閉可能に本体２０に設けられた扉３０とを有する筐体１０と、通電により発熱する発熱素子としてのサーボアンプ９１等を含む第一回路９０と、少なくとも１つの送風装置４０とを備える。本体２０は、第一回路９０を収容し且つ第一開口２０ａで開放された第一室２０１と、第一室２０１と第一隔壁２６を介して隣接し且つ第一開口２０ａ及び第二開口２４ａ～２４ｄで開放された第二室２０２とを有する。扉３０は、扉３０を貫通し且つ第二室２０２と連通可能に配置された第一扉開口３０ａ及び３０ｂを有し、扉３０は、第一開口２０ａを閉じたとき、第一室２０１を閉塞し、第一扉開口３０ａ及び３０ｂを介して第二室２０２と外部とを連通する。少なくとも１つの送風装置４０は、第一扉開口３０ａ及び３０ｂ、第一扉開口３０ａ及び３０ｂの近傍位置、第二開口２４ａ～２４ｄ、及び第二開口２４ａ～２４ｄの近傍位置のうちの少なくとも１つに配置され、第二室２０２内に空気を導入及び導出するように構成される。例えば、本実施の形態では、送風装置４０は、第一扉開口３０ａ及び３０ｂ又はその近傍に配置される。 <Effects, etc.>
The robot control device 1 according to the above-described embodiment has a main body 20 having a first opening 20a and second openings 24a to 24d arranged on a side wall 24 facing the first opening 20a, and a first opening. It includes a housing 10 having a door 30 provided in the main body 20 so that the 20a can be opened and closed, a first circuit 90 including a servo amplifier 91 and the like as a heat generating element that generates heat when energized, and at least one blower 40. .. The main body 20 accommodates the first circuit 90 and is adjacent to the first chamber 201 opened at the first opening 20a via the first chamber 201 and the first partition wall 26, and the first opening 20a and the second opening 24a. It has a second chamber 202 opened at ~ 24d. The door 30 has first door openings 30a and 30b that penetrate the door 30 and are arranged to communicate with the second chamber 202, and the door 30 opens the first chamber 201 when the first opening 20a is closed. It is closed and communicates between the second chamber 202 and the outside through the first door openings 30a and 30b. At least one blower 40 is at least one of the first door openings 30a and 30b, the positions near the first door openings 30a and 30b, the second openings 24a to 24d, and the second openings 24a to 24d. It is configured to introduce and derive air into the second chamber 202. For example, in the present embodiment, the blower 40 is arranged at or near the first door openings 30a and 30b.
　上記構成によると、扉３０が第一開口２０ａを閉じたとき、第二室２０２内への外気の流入及び流出が可能である。これにより、第一隔壁２６を介して、第二室２０２内の外気と、第一室２０１内の空気及び第一回路９０との熱交換が可能であり、サーボアンプ９１等の熱が第二室２０２へ放出される。さらに、送風装置４０が空気を導入又は導出することにより、第二室２０２内における空気の熱交換量を増大することが可能になる。 According to the above configuration, when the door 30 closes the first opening 20a, the outside air can flow in and out into the second chamber 202. As a result, heat can be exchanged between the outside air in the second chamber 202, the air in the first chamber 201, and the first circuit 90 via the first partition wall 26, and the heat of the servo amplifier 91 or the like is second. It is released into the chamber 202. Further, the blower 40 introduces or derives air, so that the amount of heat exchange of air in the second chamber 202 can be increased.
　送風装置４０は第二室２０２の端部に配置されるため、第二室２０２内の空間の有効利用が可能である。また、送風装置４０が第一扉開口３０ａ及び３０ｂ又はその近傍に配置される場合、扉３０側からの送風装置４０へのアクセスが可能である。例えば、扉３０が第一開口２０ａを開放したとき、送風装置４０の点検、修理及び交換等が容易である。 Since the blower 40 is arranged at the end of the second chamber 202, the space in the second chamber 202 can be effectively used. Further, when the blower device 40 is arranged at or near the first door openings 30a and 30b, the blower device 40 can be accessed from the door 30 side. For example, when the door 30 opens the first opening 20a, inspection, repair, replacement, and the like of the blower device 40 are easy.
　さらに、扉３０が第一開口２０ａを閉じたとき、第一室２０１は閉塞されるため、第一回路９０への異物の侵入が抑制される。また、扉３０が第一開口２０ａを開放したとき、第一室２０１及び第二室２０２へ外部からアクセスできる。第一回路９０の点検、修理及び交換等が可能である。このような制御装置１は、簡易な構造によって上記のような機能を実現することができる。 Further, when the door 30 closes the first opening 20a, the first chamber 201 is closed, so that foreign matter is suppressed from entering the first circuit 90. Further, when the door 30 opens the first opening 20a, the first room 201 and the second room 202 can be accessed from the outside. The first circuit 90 can be inspected, repaired, replaced, and the like. Such a control device 1 can realize the above-mentioned functions by a simple structure.
　また、実施の形態において、第一開口２０ａと第二開口２４ａ～２４ｄとは互いに対向する位置に配置されてもよい。上記構成によると、第一開口２０ａ又は第二開口２４ａ～２４ｄを導入口及び導出口とする第二室２０２は、その内部に直線的な空気の流路を形成することができる。よって、第二室２０２内における空気の流れをスムーズにすることが可能になるため、空気による熱交換効率が向上する。また、第一開口２０ａが筐体１０の前部に位置する場合、第二開口２４ａ～２４ｄは筐体１０の後部に位置する。よって、筐体１０の側方及び上下方向に他の物体を配置することが可能である。例えば、筐体１０を上下左右に積み重ねて配置することが可能である。従って、制御装置１の配置場所の省スペース化が可能である。 Further, in the embodiment, the first opening 20a and the second openings 24a to 24d may be arranged at positions facing each other. According to the above configuration, the second chamber 202 having the first opening 20a or the second openings 24a to 24d as the introduction port and the outlet port can form a linear air flow path inside the second chamber 202. Therefore, it becomes possible to smooth the flow of air in the second chamber 202, and the heat exchange efficiency by air is improved. When the first opening 20a is located at the front of the housing 10, the second openings 24a to 24d are located at the rear of the housing 10. Therefore, it is possible to arrange other objects laterally and vertically of the housing 10. For example, the housings 10 can be stacked vertically and horizontally. Therefore, it is possible to save space in the arrangement place of the control device 1.
　また、実施の形態において、制御装置１は第一隔壁２６に配置された第一ヒートシンク１１１～１１３を備え、第一ヒートシンク１１１～１１３は、第二室２０２内の空気と接触し且つ第一回路９０のサーボアンプ９１及びパワーユニット９２の熱が伝達可能に配置されてもよい。上記構成によると、サーボアンプ９１及びパワーユニット９２の熱は、第一ヒートシンク１１１～１１３に伝達され、伝達された熱は、第一ヒートシンク１１１～１１３と接触する第二室２０２内の空気と熱交換し吸収される。第一ヒートシンク１１１～１１３は、サーボアンプ９１及びパワーユニット９２の熱を効果的に吸収し第二室２０２内の空気へ効果的に放熱することができる。従って、熱交換効率の向上が可能になる。 Further, in the embodiment, the control device 1 includes first heat sinks 111 to 113 arranged in the first partition wall 26, and the first heat sinks 111 to 113 come into contact with the air in the second chamber 202 and the first circuit. The heat of the servo amplifier 91 of 90 and the power unit 92 may be arranged so as to be transferable. According to the above configuration, the heat of the servo amplifier 91 and the power unit 92 is transferred to the first heat sinks 111 to 113, and the transferred heat exchanges heat with the air in the second chamber 202 in contact with the first heat sinks 111 to 113. Is absorbed. The first heat sinks 111 to 113 can effectively absorb the heat of the servo amplifier 91 and the power unit 92 and effectively dissipate heat to the air in the second chamber 202. Therefore, the heat exchange efficiency can be improved.
　また、実施の形態において、第一回路９０は、サーボアンプ９１及びパワーユニット９２を含み、少なくとも２つの第一ヒートシンク１１１～１１３が、サーボアンプ９１及びパワーユニット９２の熱が伝達可能に配置されてもよい。さらに、サーボアンプ９１の熱が伝達可能な第一ヒートシンク１１１と、パワーユニット９２の熱が伝達可能な第一ヒートシンク１１２及び１１３とは、送風装置４０によって第二室２０２に生成される空気の流れの方向と交差する方向に配列されてもよい。上記構成によると、第一ヒートシンク１１１と熱交換した後の空気が、第一ヒートシンク１１２及び１１３と熱交換することが抑制される。第一ヒートシンク１１２及び１１３と熱交換した後の空気が、第一ヒートシンク１１１と熱交換することが抑制される。よって、第一ヒートシンク１１１と、第一ヒートシンク１１２及び１１３とはいずれも、新鮮な空気と熱交換することができる。従って、熱交換効率の向上が可能になる。 Further, in the embodiment, the first circuit 90 includes the servo amplifier 91 and the power unit 92, and at least two first heat sinks 111 to 113 may be arranged so that the heat of the servo amplifier 91 and the power unit 92 can be transferred. .. Further, the first heat sink 111 capable of transferring the heat of the servo amplifier 91 and the first heat sinks 112 and 113 capable of transferring the heat of the power unit 92 are the flow of air generated in the second chamber 202 by the blower 40. It may be arranged in a direction intersecting the direction. According to the above configuration, the air after heat exchange with the first heat sink 111 is suppressed from heat exchange with the first heat sinks 112 and 113. The air after heat exchange with the first heat sinks 112 and 113 is suppressed from heat exchange with the first heat sink 111. Therefore, both the first heat sink 111 and the first heat sinks 112 and 113 can exchange heat with fresh air. Therefore, the heat exchange efficiency can be improved.
　また、実施の形態において、制御装置１は、本体２０が有する第三室２０３ａ及び２０３ｂに第二回路１００を備え、第三室２０３ａ及び２０３ｂは、第二隔壁２７を介して第二室２０２と隣接してもよい。上記構成によると、第二隔壁２７を介して、第二室２０２内の空気と、第三室２０３ａ及び２０３ｂ内の空気及び第二回路１００との熱交換が可能であり、第二回路１００の熱が第二室２０２へ放出される。よって、１つの第二室２０２を用いて第一室２０１並びに第三室２０３ａ及び２０３ｂ内の熱の放出が可能である。従って、制御装置１の構造の簡略化が可能である。なお、第三室２０３ａ及び２０３ｂは、第二室２０２に関して第一室２０１と反対側に配置されてもよい。第一室２０１、第二室２０２、並びに、第三室２０３ａ及び２０３ｂが一列に並ぶため、筐体１０のコンパクト化が可能である。 Further, in the embodiment, the control device 1 includes the second circuit 100 in the third chambers 203a and 203b of the main body 20, and the third chambers 203a and 203b are connected to the second chamber 202 via the second partition wall 27. It may be adjacent. According to the above configuration, heat exchange between the air in the second chamber 202, the air in the third chambers 203a and 203b, and the second circuit 100 is possible through the second partition wall 27, and the second circuit 100 can exchange heat. Heat is released to the second chamber 202. Therefore, it is possible to release heat in the first chamber 201 and the third chambers 203a and 203b by using one second chamber 202. Therefore, the structure of the control device 1 can be simplified. The third chambers 203a and 203b may be arranged on the opposite side of the second chamber 202 from the first chamber 201. Since the first chamber 201, the second chamber 202, and the third chambers 203a and 203b are lined up in a row, the housing 10 can be made compact.
　また、実施の形態において、制御装置１は第二隔壁２７に配置された第二ヒートシンク１１４を備え、第二ヒートシンク１１４は、第二室２０２内の空気と接触し且つ第二回路１００の熱が伝達可能に配置されてもよい。上記構成によると、第二ヒートシンク１１４は、第二回路１００の熱を効果的に吸収し第二室２０２内の空気へ効果的に放熱することができる。従って、熱交換効率の向上が可能になる。 Further, in the embodiment, the control device 1 includes a second heat sink 114 arranged on the second partition wall 27, and the second heat sink 114 is in contact with the air in the second chamber 202 and the heat of the second circuit 100 is generated. It may be arranged in a communicable manner. According to the above configuration, the second heat sink 114 can effectively absorb the heat of the second circuit 100 and effectively dissipate the heat to the air in the second chamber 202. Therefore, the heat exchange efficiency can be improved.
　また、実施の形態において、第三室２０３ａは、第一開口２０ａで開放され、且つ、扉３０が第一開口２０ａを閉じたとき、扉３０によって閉塞されてもよい。上記構成によると、扉３０が第一開口２０ａを閉じたとき、第三室２０３ａ及び２０３ｂは閉塞されるため、第二回路１００への異物の侵入が抑制される。また、扉３０が第一開口２０ａを開放したとき、第三室２０３ａ及び２０３ｂへ外部からアクセスできる。 Further, in the embodiment, the third chamber 203a may be opened by the first opening 20a and may be closed by the door 30 when the door 30 closes the first opening 20a. According to the above configuration, when the door 30 closes the first opening 20a, the third chambers 203a and 203b are closed, so that foreign matter is suppressed from entering the second circuit 100. Further, when the door 30 opens the first opening 20a, the third chambers 203a and 203b can be accessed from the outside.
　また、実施の形態において、制御装置１は、扉３０に、ブレーカスイッチ１０１ａ、ロボットの操作器との接続装置としての操作器コネクタ５０、ロボットの動作モードのモード設定装置６１、及び、ロボットの非常停止装置６２のうちの少なくとも１つを備えてもよい。上記構成によると、制御装置１における操作者が操作する装置が、扉３０に配置され、さらに集約され得る。よって、制御装置１は、扉３０の前方と、側壁２４の後方とにスペースを確保するように配置されればよい。制御装置１の側方及び上下方向のスペースの有効利用が可能であり、制御装置１の配置場所の省スペース化が可能である。 Further, in the embodiment, the control device 1 has a door 30, a breaker switch 101a, an operator connector 50 as a connection device with the robot operator, a robot operation mode mode setting device 61, and a robot emergency. At least one of the stop devices 62 may be provided. According to the above configuration, the devices operated by the operator in the control device 1 can be arranged in the door 30 and further integrated. Therefore, the control device 1 may be arranged so as to secure a space in front of the door 30 and behind the side wall 24. It is possible to effectively use the space in the lateral direction and the vertical direction of the control device 1, and it is possible to save the space for arranging the control device 1.
　（変形例）
　実施の形態の変形例に係るロボット用制御装置１Ａを説明する。変形例に係るロボット用制御装置１Ａは、第一回路９０から延びる電気ケーブルが筐体１０の第二室２０２を通過する点で、実施の形態と異なる。以下、変形例について、実施の形態と異なる点を中心に説明し、実施の形態と同様の点の説明を適宜省略する。 (Modification example)
The robot control device 1A according to the modified example of the embodiment will be described. The robot control device 1A according to the modified example is different from the embodiment in that the electric cable extending from the first circuit 90 passes through the second chamber 202 of the housing 10. Hereinafter, the modified example will be described mainly on the points different from the embodiment, and the description of the same points as the embodiment will be omitted as appropriate.
　図７は、変形例に係るロボット用制御装置１Ａの構成の一例を図５と同様に示す図である。図８は、変形例に係るロボット用制御装置１Ａの構成の一例を図６と同様に示す図である。図７及び図８に示すように、サーボアンプ９１から複数の電気ケーブル１２０ａが延びる。電気ケーブル１２０ａの数量は、ロボットのアーム及びエンドエフェクタのサーボモータの数量に対応する。複数の電気ケーブル１２０ａは、支持板１１５を貫通する複数の絶縁性の保持部材１２１ａを通って、第一室２０１から第二室２０２内に延びる。第二室２０２内の電気ケーブル１２０ａは、第一隔壁２６に形成された開口２６ａを通って第一室２０１内に延び、ロボットコネクタ８１と接続されている。なお、開口２６ａの内周に、開口２６ａにおける気密性又は液密性を高めるためのパッキン等の封止部材が配置されてもよい。 FIG. 7 is a diagram showing an example of the configuration of the robot control device 1A according to the modified example in the same manner as in FIG. FIG. 8 is a diagram showing an example of the configuration of the robot control device 1A according to the modified example in the same manner as in FIG. As shown in FIGS. 7 and 8, a plurality of electric cables 120a extend from the servo amplifier 91. The quantity of the electric cable 120a corresponds to the quantity of the servomotor of the robot arm and the end effector. The plurality of electric cables 120a extend from the first chamber 201 into the second chamber 202 through the plurality of insulating holding members 121a penetrating the support plate 115. The electric cable 120a in the second chamber 202 extends into the first chamber 201 through the opening 26a formed in the first partition wall 26 and is connected to the robot connector 81. A sealing member such as a packing for enhancing the airtightness or liquidtightness of the opening 26a may be arranged on the inner circumference of the opening 26a.
　また、パワーユニット９２から複数の電気ケーブル１２０ｂが延びる。複数の電気ケーブル１２０ｂは、支持板１１６を貫通する絶縁性の保持部材１２１ｂを通って、第一室２０１から第二室２０２内に延びる。第二室２０２内の電気ケーブル１２０ｂは、支持板１１５を貫通する複数の絶縁性の保持部材１２１ｃを通って第一室２０１内に延び、サーボアンプ９１と接続されている。 Also, a plurality of electric cables 120b extend from the power unit 92. The plurality of electric cables 120b extend from the first chamber 201 into the second chamber 202 through the insulating holding member 121b that penetrates the support plate 116. The electric cable 120b in the second chamber 202 extends into the first chamber 201 through a plurality of insulating holding members 121c penetrating the support plate 115, and is connected to the servo amplifier 91.
　電気ケーブル１２０ａ及び１２０ｂは、サーボアンプ９１及びパワーユニット９２の通電時に発熱するが、第二室２０２内の空気と接触し熱交換することで冷却される。電気ケーブル１２０ａ及び１２０ｂの発熱が抑えられることで、サーボアンプ９１及びパワーユニット９２の発熱が抑えられる。 The electric cables 120a and 120b generate heat when the servo amplifier 91 and the power unit 92 are energized, but are cooled by contacting with the air in the second chamber 202 and exchanging heat. By suppressing the heat generation of the electric cables 120a and 120b, the heat generation of the servo amplifier 91 and the power unit 92 can be suppressed.
　上述のような変形例に係るロボット用制御装置１Ａによれば、実施の形態と同様の効果が得られる。さらに、第一回路９０のサーボアンプ９１及びパワーユニット９２から延びる電気ケーブル１２０ａ及び１２０ｂは、第二室２０２を通って配置されてもよい。電気ケーブル１２０ａ及び１２０ｂは、通電時に発熱する。さらに、電気ケーブル１２０ａ及び１２０ｂは、サーボアンプ９１及びパワーユニット９２から熱の伝達を受け得る。第二室２０２を通る電気ケーブル１２０ａ及び１２０ｂは、第二室２０２内の空気と熱交換し冷却されることが可能である。 According to the robot control device 1A according to the modification as described above, the same effect as that of the embodiment can be obtained. Further, the electric cables 120a and 120b extending from the servo amplifier 91 and the power unit 92 of the first circuit 90 may be arranged through the second chamber 202. The electric cables 120a and 120b generate heat when energized. Further, the electric cables 120a and 120b can receive heat transfer from the servo amplifier 91 and the power unit 92. The electric cables 120a and 120b passing through the second chamber 202 can exchange heat with the air in the second chamber 202 and be cooled.
　（その他の実施の形態）
　以上、本開示の実施の形態の例について説明したが、本開示は、上記実施の形態及び変形例に限定されない。すなわち、本開示の範囲内で種々の変形及び改良が可能である。例えば、各種変形を実施の形態及び変形例に施したもの、及び、異なる実施の形態及び変形例における構成要素を組み合わせて構築される形態も、本開示の範囲内に含まれる。 (Other embodiments)
Although the examples of the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above-described embodiments and modifications. That is, various modifications and improvements are possible within the scope of the present disclosure. For example, a form in which various modifications are applied to the embodiments and modifications, and a form constructed by combining components in different embodiments and modifications are also included in the scope of the present disclosure.
　例えば、実施の形態及び変形例において、送風装置４０は、第一扉開口３０ａ及び３０ｂ又はその近傍に配置されていたが、これに限定されない。例えば、送風装置４０は、扉３０に配置されてもよく、第二室２０２内のいかなる位置に配置されてもよい。送風装置４０は、第一扉開口３０ａ及び３０ｂから第二開口２４ａ～２４ｄに向かう方向又はその反対方向の気流を発生するように構成されることが好ましい。 For example, in the embodiments and modifications, the blower 40 is arranged at or near the first door openings 30a and 30b, but is not limited thereto. For example, the blower 40 may be arranged at the door 30 or at any position in the second chamber 202. The blower 40 is preferably configured to generate airflow in the direction from the first door openings 30a and 30b toward the second openings 24a to 24d or in the opposite direction.
　例えば、送風装置４０は、第一扉開口３０ａ及び３０ｂと、第一扉開口３０ａ及び３０ｂの近傍との両方に配置されてもよい。例えば、送風装置４０は、第二開口２４ａ～２４ｄと、第二開口２４ａ～２４ｄの近傍との一方又は両方に配置されてもよい。つまり、少なくとも１つの送風装置４０が、第一扉開口３０ａ及び３０ｂ、第一扉開口３０ａ及び３０ｂの近傍位置、第二開口２４ａ～２４ｄ、及び第二開口２４ａ～２４ｄの近傍位置のうちの少なくとも１つに配置されてもよい。２つ以上の送風装置４０が配置されてもよい。 For example, the blower 40 may be arranged both in the first door openings 30a and 30b and in the vicinity of the first door openings 30a and 30b. For example, the blower 40 may be arranged in one or both of the second openings 24a to 24d and the vicinity of the second openings 24a to 24d. That is, at least one blower 40 is at least one of the first door openings 30a and 30b, the positions near the first door openings 30a and 30b, the second openings 24a to 24d, and the second openings 24a to 24d. It may be arranged in one. Two or more blowers 40 may be arranged.
　送風装置４０が第二開口２４ａ～２４ｄ又はその近傍に配置される場合、送風装置４０は、第二室２０２の端部に配置されるため、第二室２０２内の空間の有効利用が可能である。また、扉３０の開閉の有無に関わらず、送風装置４０へのアクセスが可能である。例えば、扉３０の開閉の有無に関わらず、送風装置４０の点検、修理及び交換等が可能である。 When the blower 40 is arranged at or near the second openings 24a to 24d, the blower 40 is arranged at the end of the second chamber 202, so that the space in the second chamber 202 can be effectively used. is there. In addition, the blower 40 can be accessed regardless of whether the door 30 is opened or closed. For example, the blower 40 can be inspected, repaired, replaced, etc. regardless of whether the door 30 is opened or closed.
　また、実施の形態及び変形例において、筐体１０の第一室２０１並びに第三室２０３ａ及び２０３ｂには、発熱素子として、サーボアンプ９１、パワーユニット９２及び変圧器１０２等が配置されていたが、これに限定さない。発熱素子は、発熱するものであればよく、例えば、抵抗素子等の電気部品又は電子部品であってもよく、その他の発熱体であってもよい。 Further, in the embodiment and the modified example, the servo amplifier 91, the power unit 92, the transformer 102, and the like are arranged as heat generating elements in the first chamber 201 and the third chambers 203a and 203b of the housing 10. Not limited to this. The heating element may be an electric component such as a resistance element or an electronic component, or may be another heating element as long as it generates heat.
　また、実施の形態及び変形例において、第一室２０１と第三室２０３ａ及び２０３ｂとは、第二室２０２に対して互いに反対側に配置されていたが、これに限定されない。第一室２０１並びに第三室２０３ａ及び２０３ｂは、第二室２０２に隣接して配置されていればよい。例えば、第一室２０１は第一隔壁２６に隣接し、第三室２０３ａ及び２０３ｂは底壁２１又は頂壁２５に隣接してもよい。 Further, in the embodiment and the modified example, the first chamber 201 and the third chambers 203a and 203b are arranged on opposite sides of the second chamber 202, but the present invention is not limited to this. The first chamber 201 and the third chambers 203a and 203b may be arranged adjacent to the second chamber 202. For example, the first chamber 201 may be adjacent to the first partition wall 26, and the third chambers 203a and 203b may be adjacent to the bottom wall 21 or the top wall 25.
１，１Ａ　ロボット用制御装置
１０　筐体
２０　本体
２０ａ　第一開口
２４ａ～２４ｄ　第二開口
２６　第一隔壁
２７　第二隔壁
３０　扉
３０ａ，３０ｂ　第一扉開口
４０　送風装置
４１　ファン
５０　操作器コネクタ（接続装置）
６１　モード設定装置
６２　非常停止装置
９０　第一回路
９１　サーボアンプ（第一発熱素子）
９２　パワーユニット（第二発熱素子）
１００　第二回路
１０１ａ　ブレーカスイッチ
１０２　変圧器（発熱素子）
１１１～１１３　ヒートシンク（第一ヒートシンク）
１１４　ヒートシンク（第二ヒートシンク）
１２０ａ，１２０ｂ　電気ケーブル
２０１　第一室
２０２　第二室
２０３ａ，２０３ｂ　第三室 1,1A Robot control device 10 Housing 20 Main body 20a First opening 24a to 24d Second opening 26 First partition 27 Second partition 30 Door 30a, 30b First door opening 40 Blower 41 Fan 50 Operator connector (connection) apparatus)
61 Mode setting device 62 Emergency stop device 90 First circuit 91 Servo amplifier (first heat generating element)
92 Power unit (second heat generating element)
100 Second circuit 101a Breaker switch 102 Transformer (heating element)
111-113 heat sink (first heat sink)
114 heat sink (second heat sink)
120a, 120b Electric cable 201 First room 202 Second room 203a, 203b Third room

Claims (9)

  1. 　ロボットを制御するためのロボット用制御装置であって、
    　第一開口と前記第一開口と対向する壁に配置された第二開口とを有する本体と、前記第一開口を開閉可能に前記本体に設けられた扉とを有する筐体と、
    　通電により発熱する発熱素子を含む第一回路と、
    　少なくとも１つの送風装置とを備え、
    　前記本体は、
    　前記第一回路を収容し、前記第一開口で開放された第一室と、
    　前記第一室と第一隔壁を介して隣接し、前記第一開口及び前記第二開口で開放された第二室とを有し、
    　前記扉は、前記扉を貫通し且つ前記第二室と連通可能に配置された扉開口を有し、
    　前記扉は、前記第一開口を閉じたとき、前記第一室を閉塞し、前記扉開口を介して前記第二室と外部とを連通し、
    　前記少なくとも１つの送風装置は、前記扉開口、前記扉開口の近傍位置、前記第二開口、及び前記第二開口の近傍位置のうちの少なくとも１つに配置され、前記第二室内に空気を導入及び導出するように構成される
    　ロボット用制御装置。     A control device for robots for controlling robots.
    A housing having a first opening and a second opening arranged on a wall facing the first opening, and a housing having a door provided on the main body so that the first opening can be opened and closed.
    The first circuit including a heat generating element that generates heat when energized,
    With at least one blower
    The main body
    A first chamber that houses the first circuit and is opened by the first opening,
    Adjacent to the first chamber via the first partition wall, it has the first opening and the second chamber opened by the second opening.
    The door has a door opening that penetrates the door and is arranged to communicate with the second chamber.
    When the first opening is closed, the door closes the first chamber and communicates the second chamber with the outside through the door opening.
    The at least one blower is arranged at at least one of the door opening, the position near the door opening, the second opening, and the position near the second opening to introduce air into the second chamber. And a control device for robots configured to derive.
  2. 　前記第一開口と前記第二開口とは互いに対向する位置に配置されている
    　請求項１に記載のロボット用制御装置。     The robot control device according to claim 1, wherein the first opening and the second opening are arranged at positions facing each other.
  3. 　前記第一隔壁に配置された第一ヒートシンクをさらに備え、
    　前記第一ヒートシンクは、前記第二室内の空気と接触し且つ前記第一回路の前記発熱素子の熱が伝達可能に配置される
    　請求項１または２に記載のロボット用制御装置。     Further provided with a first heat sink disposed on the first bulkhead
    The robot control device according to claim 1 or 2, wherein the first heat sink is arranged so as to be in contact with air in the second chamber and to transfer heat of the heat generating element of the first circuit.
  4. 　前記第一回路は、前記発熱素子として、第一発熱素子及び第二発熱素子を含み、
    　少なくとも２つの前記第一ヒートシンクが、前記第一発熱素子及び前記第二発熱素子の熱が伝達可能に配置され、
    　前記第一発熱素子の熱が伝達可能な前記第一ヒートシンクと、前記第二発熱素子の熱が伝達可能な前記第一ヒートシンクとは、前記送風装置によって前記第二室に生成される空気の流れの方向と交差する方向に配列される
    　請求項３に記載のロボット用制御装置。     The first circuit includes a first heat generating element and a second heat generating element as the heat generating element.
    At least two of the first heat sinks are arranged so that the heat of the first heat generating element and the second heat generating element can be transferred.
    The first heat sink capable of transferring the heat of the first heat generating element and the first heat sink capable of transferring the heat of the second heating element are a flow of air generated in the second chamber by the blower. The control device for a robot according to claim 3, which is arranged in a direction intersecting the direction of.
  5. 　前記本体が有する第三室に第二回路をさらに備え、
    　前記第三室は、第二隔壁を介して前記第二室と隣接する
    　請求項１～４のいずれか一項に記載のロボット用制御装置。     A second circuit is further provided in the third chamber of the main body.
    The robot control device according to any one of claims 1 to 4, wherein the third chamber is adjacent to the second chamber via a second partition wall.
  6. 　前記第二隔壁に配置された第二ヒートシンクをさらに備え、
    　前記第二ヒートシンクは、前記第二室内の空気と接触し且つ前記第二回路の熱が伝達可能に配置される
    　請求項５に記載のロボット用制御装置。     Further provided with a second heat sink arranged in the second bulkhead
    The robot control device according to claim 5, wherein the second heat sink is arranged so as to be in contact with air in the second chamber and to transfer heat of the second circuit.
  7. 　前記第三室は、前記第一開口で開放され、且つ、前記扉が前記第一開口を閉じたとき、前記扉によって閉塞される
    　請求項５または６に記載のロボット用制御装置。     The robot control device according to claim 5 or 6, wherein the third chamber is opened by the first opening and is closed by the door when the door closes the first opening.
  8. 　前記第一回路の前記発熱素子から延びる電気ケーブルが、前記第二室を通って配置される
    　請求項１～７のいずれか一項に記載のロボット用制御装置。     The robot control device according to any one of claims 1 to 7, wherein an electric cable extending from the heat generating element of the first circuit is arranged through the second chamber.
  9. 　前記扉に、ブレーカスイッチ、前記ロボットの操作器との接続装置、前記ロボットの動作モードの設定装置、及び前記ロボットの非常停止装置のうちの少なくとも１つを備える
    　請求項１～８のいずれか一項に記載のロボット用制御装置。     Any one of claims 1 to 8, wherein the door is provided with at least one of a breaker switch, a connection device for connecting the robot operator, a robot operation mode setting device, and an emergency stop device for the robot. The robot control device described in the section.
PCT/JP2020/022496 2019-06-07 2020-06-08 Robot control device WO2020246613A1 (en)

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JP2021524945A JP7340015B2 (en) 2019-06-07 2020-06-08 Robot controller

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